This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Similar articles in Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Web of Science (1) Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Huang, Z. Articles by Cao, Y. Search for Related Content Social Bookmarking                         What's this?

Property Identification of the Singularity Loci of a Class of Gough-Stewart Manipulators

Robotics Research Center, Yanshan University, Qinghuangdao, Hebei, 066004, China, huangz{at}ysu.edu.cn

Yi Cao

Robotics Research Center, Yanshan University, Qinghuangdao, Hebei, 066004, China

In this paper we address the problem of identifying the property of the singularity loci of a class of 6/6-Gough-Stewart manipulators in which the moving and base platforms are two similar semiregular hexagons. After constructing the Jacobian matrix of this class of 6/6-Gough-Stewart manipulators according to the theory of statical equilibrium, we derive a cubic polynomial expression in the moving platform position parameters, which represents the constant-orientation singularity locus of the manipulator. Graphical representations of the singularity locus of the manipulator for different orientations are quite various and complex. Further, we analyze the singularity locus of this class of 6/6-Gough-Stewart manipulators in the principal section, where the moving platform lies. This shows that singularity loci of this class of 6/6-Gough-Stewart manipulators in parallel principal sections are all quadratic expressions. We have also found that, for this class of 6/6-Gough-Stewart manipulators, there are also some special singularity cases in which six lines associated with the six extensible links of the manipulator can intersect one common line and the unwanted instantaneous motion of the manipulator is a pure rotation.

Key Words: singularity loci • property identification • parallel manipulators

The International Journal of Robotics Research, Vol. 24, No. 8, 675-685 (2005)
DOI: 10.1177/0278364905054655


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?