Stewart-Gough platforms with simple singularity surface

被引：6
|
作者：
Karger, Adolf [1 ]
机构：
[1] Charles Univ, Fac Math & Phys, Prague, Czech Republic
来源：
ADVANCES IN ROBOT KINEMATICS: MECHANISMS AND MOTION | 2006年
关键词：
Stewart-Gough platforms; parallel manipulators; study representation; singular positions;
D O I：
10.1007/978-1-4020-4941-5_27
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The singularity surface of a parallel manipulator is a very complicated algebraic surface of high degree in six-dimensional space of all possible positions of the manipulator (in the six-dimensional group of all space congruences). In this paper we show that for some classes of manipulators we can visualize the singularity set for any fixed orientation of the manipulator by a quadric in the space of translations. Some properties and examples are given.
引用
收藏
页码：247 / 254
页数：8
相关论文
共 50 条
  • [21] Research on the orientation-singularity and orientation-workspace of a class of Stewart-Gough parallel manipulators
    Cao, Y.
    Zhou, H.
    Zhang, Q-J
    Ji, W-X
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS, 2010, 224 (K1) : 19 - 32
  • [22] The Research on Orientation Capability of the Stewart-Gough Manipulator
    Cao, Yi
    Zhang, Qiuju
    Zhou, Hui
    2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2, 2008, : 869 - 874
  • [23] Conception of Stewart-Gough platform with reconfigurable control
    Rosario, J. M.
    Oliveira, E.
    Durnur, D.
    2006 INTERNATIONAL SYMPOSIUM ON POWER ELECTRONICS, ELECTRICAL DRIVES, AUTOMATION AND MOTION, VOLS 1-3, 2006, : 1039 - +
  • [24] Optimal Design and Control of a Stewart-Gough Platform
    Nguyen Xuan Vinh
    Nguyen Ngoc Lam
    Le Quoc Ha
    Le Hoai Quoc
    Nguyen Minh Thanh
    PROCEEDINGS OF THE 2015 7TH IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2015,
  • [25] A Literature Review on Stewart-Gough Platform Calibrations
    Karmakar, Sourabh
    Turner, Cameron J.
    JOURNAL OF MECHANICAL DESIGN, 2024, 146 (08)
  • [26] Singularity Representation and Workspace Determination of a Special Class of the Gough-Stewart Platforms
    Li, Baokun
    Cao, Yi
    Zhang, Qiuju
    Wang, Chuanli
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2013, 10
  • [27] Forward displacement analysis of a special Stewart-Gough platform
    Huang, YZ
    Fu, GW
    Jiang, XQ
    Wu, WD
    PROCEEDINGS OF THE FOURTH ASIAN TECHNOLOGY CONFERENCE IN MATHEMATICS, 1999, : 347 - 356
  • [28] POSITION-SINGULARITY ANALYSIS OF 6-3 STEWART-GOUGH PARALLEL MANIPULATORS FOR SPECIAL ORIENTATIONS
    Cao, Yi
    Ji, Weixi
    Zhou, Hui
    Zhang, Qiuju
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2011, 26 (02): : 152 - 158
  • [29] DESIGN OF A STEWART-GOUGH PLATFORM FOR ENGINEERING MATERIAL CHARACTERIZATION
    Fry, Sean T.
    Turner, Cameron J.
    PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2016, VOL. 11, 2017,
  • [30] Mechatronics Design, Modelling and Controlling of the Stewart-Gough Platform
    Owoc, Dawid
    Ludwiczak, Krzysztof
    Piotrowski, Robert
    2019 24TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR), 2019, : 76 - 80
12345