Analysis and Application of the Singularity Locus of the Stewart Platform
Analysis and Application of the Singularity Locus of the Stewart Platform作者机构：State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China
出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)
年 卷 期：2011年第24卷第1期
页 面：133-140页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程]
主 题：parallel manipulator Stewart platform Jacobian matrix singularity locus workspace
摘 要：The direct use of the determinant of Jacobian matrix being equal to zero for the singularity analysis is generally difficult which is due to complexity of the Jacobian matrix of 6-DOF parallel manipulators,especially for Stewart ***,several scholars make their great contribution to the effective solution of this problem,but neither of them find the right *** paper gives a brief analysis of the kinematics of the Stewart platform and derives the Jacobian matrices of the system through the velocity *** the basis of the traditional classification of singularities,the second type of singularity is *** assumption of any three of the six variables of the Stewart platform as constant is made,then the analytical expression of singularity locus equation of the second type singularity which contains another three pose variables is *** singularity locus is represented in the three-dimensional space through the derived *** correctness and validity of the proposed method are verified through ***,the singularity analysis of an electric Stewart platform in its desired workspace and reachable workspace is ***,one can easily identify whether singularity exists in a given workspace of a Stewart platform and determine whether the existed singularity can be avoided through the proposed *** proposed method also provides theoretical principle for the design and application of the Stewart platform and has great significance for the trajectory planning and control.
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