Singularity Elimination Of Stewart Platform Using Redundant Actuation
This paper mainly addresses the principle of the singularity elimination of the Stewart Platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the platform is always full, accordingly the singular value of the Jacobian matrix of the platform is nonzero. Then the singular configuration of the platform can be eliminated by adding one redundant actuation. Numerical examples are taken to illuminate the principles effectiveness. It is shown that not only singular configurations of the Stewart Platform can be eliminated, but also performances of kinematics and dynamics of the platform can be greatly perfected by adding appropriate redundant actuation.
stewart platform singular configuration singularity elimination redundant actuation
Baokun Li Yi Cao Qiuju Zhang Hui Zhou
School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, Anhui, 232001 School of Mechanical Engineering, Jiangnan University, 1800 Lihu Avenue, Wuxi, Jiangsu, 214122, Chin
国际会议
太原
英文
156-159
2010-10-22(万方平台首次上网日期,不代表论文的发表时间)