A New Method for the Property Identification of the Position-Singularity Loci of the Stewart Parallel Manipulator
This paper proposed a new method, I.e., Z-plane, for the property identification of the position-singularity loci of the 6/6-SPS Stewart manipulators. After constructing the Jacobian matrix of the 6/6-SPS Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constant-orientation position -singularity locus of the manipulator, is derived. Graphical representations of the position-singularity locus of the parallel manipulator for different orientations are illustrated with examples to demonstrate the theoretical results. In order to analyze the property of position-singularity loci of the 6/6-SPS Stewart manipulator in three-dimensional space, a novel method called Z-plane is proposed. Based on the abovementioned analytical expression, a quadratic expression that represents the position-singularity locus of the manipulator in Z-plane is derived, and further the property of positionsingularity loci of the manipulator in parallel Z-planes is identified in detailed. It is shown that position-singularity loci of 6/6-SPS Stewart manipulators in parallel Z-planes are all quadratic expressions including infinite hyperbolas, four pairs of intersecting lines and a parabola.
property identification position-singularity zplane Stewart manipulator
Shaogang Hu Yi Cao Hui Zhou Baokun Li
School of Mechanical & Electrical Engineering, Changzhou Institute of Technology Changzhou, Jiangsu Huiguang Robotics Research Center, School of Mechanical Engineering, Jiangnan University 1800 Lihu A School of Mechanical Engineering, Anhui University of Science and Technology Huainan, Anhui 232001,
国际会议
太原
英文
151-155
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）