Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators Based on Singularity-Equivalent-Mechanism
نویسندگان
چکیده
منابع مشابه
Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators based on Singularity-Equivalent-Mechanism
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...
متن کاملProperty Identification of the Singularity Loci of a Class of Gough-Stewart Manipulators
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 mov...
متن کاملSingularity Analysis and Representation of the General Gough-Stewart Platform
In this paper, the singularity loci of the Gough-Stewart platform are studied and a graphical representation of these loci in the manipulator’s workspace is obtained. The algorithm presented is based on analytical expressions of the determinant of the Jacobian matrix, using two different approaches, namely, linear decomposition and cofactor expansion. The first approach is used to assess the ef...
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The closed-loop nature of the Gough-Stewart platform generates complex singular configurations inside the workspace and makes its workspace smaller compared to the serial mechanism. It is desirable to obtain a non-singular workspace based on describing the constraint workspace and representing the singularities inside the constraint workspace. Some algorithms have been proposed by researchers t...
متن کاملNon Cubic Singularity Surface of Stewart Gough Platform
Article history: Received 19 August 2014 Received in revised form 19 September 2014 Accepted 29 September 2014 Available online 22 October 2014
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2012
ISSN: 1729-8814,1729-8814
DOI: 10.5772/45664