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- Title
Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators based on Singularity-Equivalent-Mechanism.
- Authors
Hui Zhou; Yi Cao; Baokun Li; Meiping Wu; Jinghu Yu; Haiwei Chen
- Abstract
This paper addresses the problem of identifying the property of the singularity loci of a class of 3/6-Gough-Stewart manipulators for general orientations in which the moving platform is an equilateral triangle and the base is a semiregular hexagon. After constructing the Jacobian matrix of this class of 3/6-Gough-Stewart manipulators according to the screw theory, a cubic polynomial expression in the moving platform position parameters that represents the position-singularity locus of the manipulator in a three-dimensional space is derived. Graphical representations of the positionsingularity locus for different orientations are given so as to demonstrate the results. Based on the singularity kinematics principle, a novel method referred to as 'singularity-equivalent-mechanism' is proposed, by which the complicated singularity analysis of the parallel manipulator is transformed into a simpler direct position analysis of the planar singularity-equivalent-mechanism. The property of the position-singularity locus of this class of parallel manipulators for general orientations in the principal-section, where the moving platform lies, is identified. It shows that the position-singularity loci of this class of 3/6-Gough-Stewart manipulators for general orientations in parallel principal-sections are all quadratic expressions, including a parabola, four pairs of intersecting lines and infinite hyperbolas. Finally, the properties of the position-singularity loci of this class of 3/6-Gough-Stewart parallel manipulators in a three-dimensional space for all orientations are presented.
- Subjects
MANIPULATORS (Machinery); ROBOT kinematics; PARALLEL robots; SET theory; MATHEMATICAL singularities; LOCUS (Mathematics); JACOBIAN matrices; THEORY of screws
- Publication
International Journal of Advanced Robotic Systems, 2012, Vol 9, Issue 3, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.5772/45664