Analytic singularity equation and analysis of six-DOF parallel manipulators using local structurization method

An analytic expression for the singularities of a six-degree of freedom Stewart-platform type parallel manipulator (six-DOF SPM) is obtained using the concept of a local structurization method (LSM) with extra sensors. The resulting equation, however, does not include sensor values. It is only a fun...

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Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 15; no. 4; pp. 612 - 622
Main Authors Kim, Doik, Chung, Wankyung
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.1999
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Automation
Design engineering
Equations
Exact solutions
Geometry
Kinematics
Leg
Manipulators
Mathematical analysis
Mathematical models
Mechanical engineering
Polynomials
Robot arms
Robots
Scanning probe microscopy
Sensors
Singularities
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Summary:An analytic expression for the singularities of a six-degree of freedom Stewart-platform type parallel manipulator (six-DOF SPM) is obtained using the concept of a local structurization method (LSM) with extra sensors. The resulting equation, however, does not include sensor values. It is only a function of design variables. The equation is basically a third-degree polynomial and it exactly provides singularity information of general SPMs. Several symbolic examples are shown to verify the exactness of the singularity equation by comparing it with previously reported singularities. Some other numerical examples are also shown using the proposed singularity equation.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
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content type line 23
ISSN:1042-296X
2374-958X
DOI:10.1109/70.781965