The determination of the 6-dimensional singular configurations (SC) space of 3/6-SPS Stewart parallel manipulator is a very important and quite complicated problem. For a long time, its developments, however, have been very limited, especially the general-linear complex-SC (GSC). Currently, the Jacobian matrix and the Grassmann line geometry have been used to solve the SC space of the Stewart parallel robot. However, these two approaches are not straightforward. In this paper, a novel computer aided geometric approach is proposed for solving the 6-dimensional SC space of the 3/6-SPS Stewart parallel manipulator. First, a simulation mechanism of the 3/6-SPS parallel manipulator is created. Second, its equivalent SC simulation mechanism is created. Third, from the equivalent SC simulation mechanism, some analytical geometry formulas for solving 6-dimension SC space are derived. Finally, some SC space characteristics are analyzed, and some important developments are achieved.
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ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 24–28, 2005
Long Beach, California, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4744-6
PROCEEDINGS PAPER
Resolution of Singular Configuration Space of 3/6-SPS Parallel Manipulator Using an Equivalent SC Simulation Mechanism
Yi Lu,
Yi Lu
Yanshan University, Qinhuangdao, Hebei, China
Search for other works by this author on:
Zhen Huang
Zhen Huang
Yanshan University, Qinhuangdao, Hebei, China
Search for other works by this author on:
Yi Lu
Yanshan University, Qinhuangdao, Hebei, China
Zhen Huang
Yanshan University, Qinhuangdao, Hebei, China
Paper No:
DETC2005-84112, pp. 705-710; 6 pages
Published Online:
June 11, 2008
Citation
Lu, Y, & Huang, Z. "Resolution of Singular Configuration Space of 3/6-SPS Parallel Manipulator Using an Equivalent SC Simulation Mechanism." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B. Long Beach, California, USA. September 24–28, 2005. pp. 705-710. ASME. https://doi.org/10.1115/DETC2005-84112
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