Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator

作     者：Yu-tong LI Yu-xin WANG Shuang-xia PAN Rui-qin GUO 

作者机构：College of Mechanical Engineering and Energy Zhejiang University Hangzhou 310027 China Department of Mechanical Engineering Tongji University Shanghai 200092 China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2008年第9卷第11期

页      面：1539-1551页

核心收录：

学科分类：0810[工学-信息与通信工程] 08[工学] 080203[工学-机械设计及理论] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Project (Nos. 50375111 and 50675188) supported by the National Natural Science Foundation of China 

主　　题：Parallel manipulator Singularity hypersurface Singularity-free moving region 

摘      要：The singular points of a 6-SPS Stewart platform are distributed on the multi-dimensional singularity hypersurface in the task-space, which divides the workspace of the manipulator into several singularity-free regions. Because of the motion un- certainty at singular points, while the manipulator traverses this kind of hypersurface from one singularity-free region to another, its motion cannot be predetermined. In this paper, a detailed approach for the manipulator to traverse the singularity hypersurface with its non-persistent configuration is presented. First, the singular point transfer disturbance and the pose disturbance, which make the perturbed singular point transfer horizontally and vertically, respectively, are constructed. Through applying these disturbances into the input parameters within the maximum loss control domain, the perturbed persistent configuration is transformed into its corresponding non-persistent one. Under the action of the disturbances, the manipulator can traverse the singularity hypersurface from one singularity-flee region to another with a desired configuration.