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
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