Abstract
This paper presents a new principle and method of kinematics to analyze the singularity of Stewart manipulators and addresses the property identification of the singularity loci of 6-3 Stewart manipulators for some special orientations. Based on the kinematics relationship of a rigid body, the necessary and sufficient condition that three velocities of three non-collinear points in a rigid body can determine a screw motion is addressed in this paper. With the above-mentioned condition, an analytical polynomial expression of three degree in the moving platform position parameters is derived, which represents the position-singularity locus of the 6-3 Stewart manipulator for some special orientations, and property identification of the singularity loci of the 6-3 Stewart parallel manipulator for these special orientations are studied in detail as well. It is shown that singularity loci of the 6-3 Stewart parallel manipulator for these special orientations will be a plane and hyperbolic paraboloid, even three intersecting planes.
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© 2008 Springer-Verlag Berlin Heidelberg
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Cao, Y., Zhang, Q., Zhou, H., Li, B. (2008). Property Identification of 6-3 Stewart Parallel Manipulators for Special Orientations. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_5
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DOI: https://doi.org/10.1007/978-3-540-88513-9_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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