Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform
نویسنده
چکیده
This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the bottom and top plates are related by a rotation and a contraction. It is shown that in this case the platform is always in a singular configuration and that the singular manifold can be parameterized by a scalar parameter.
منابع مشابه
Synthesis, characterization and spectroscopic properties of new azo dyes derived from aniline derivatives based on acetylacetone and azo-metal (II) complexes and singular value decomposition (SVD) investigation
Four new azo-dyes, 3-phenyl azopentane-2,4-dion (LA), 3-(4-nitro phenyl azo)-pentane-2,4-dion (LP), 3-(2-nitro phenyl azo)-pentane-2,4-dion (LO) and 4-(1-acetyle-2-oxo-propyl azo)-benzene sulfonate sodium (LS), were synthesized from, aniline, 4-nitroaniline, 2-nitroaniline and sulfanilic acid with acetylacetone, respectively. Reaction of these new dyes with acetate salts of copper(II), nickel(I...
متن کاملA simple algorithm for solving the Volterra integral equation featuring a weakly singular kernel
There are many methods for numerical solutions of integral equations. In various branches of science and engineering, chemistry and biology, and physics applications integral equation is provided by many other authors. In this paper, a simple numerical method using a fuzzy, for the numerical solution of the integral equation with the weak singular kernel is provided. Finally, by providing three...
متن کاملModeling and Wrench Feasible Workspace Analysis of a Cable Suspended Robot for Heavy Loads Handling
Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...
متن کاملA remarkable set of Schönflies-singular planar Stewart Gough platforms
We present a set of planar parallel manipulators of Stewart Gough type which are singular with respect to the Schönflies group X(a) without being architecturally singular. This set of so called Schönflies-singular planar parallel manipulators is characterized by the property that the carrier plane of the platform or of the base anchor points is orthogonal to the rotational axis a of the Schönfl...
متن کاملSingular Surfaces , Mod 2 Homology , and Hyperbolic Volume
If M is a simple, closed, orientable 3-manifold such that π1(M) contains a genus-g surface group, and if H1(M ;Z2) has rank at least 4g−1, we show that M contains an embedded closed incompressible surface of genus at most g. As an application we show that if M is a closed orientable hyperbolic 3-manifold of volume at most 3.08, then the rank of H1(M ;Z2) is at most 6.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2008