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Property analysis of the position-singularity loci of the Stewart manipulator using the cross-section of Z-plane

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5 Author(s)
Yi Cao ; Sch. of Mech. Eng., Jiangnan Univ., Wuxi, China ; Hui Zhou ; Baokun Li ; Shaogang Hu
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This paper addresses the property analysis of the position-singularity loci of 6/6-SPS Stewart manipulators. After constructing the Jacobian matrix of the 6/6-SPS Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constant-orientation position-singularity locus of the manipulator, is derived. Graphical representations of the position-singularity locus of the manipulator for different orientations are illustrated with examples to demonstrate the theoretical results. Based on this analytical expression, a quadratic expression that represents the position-singularity locus of the manipulator in Z-plane is derived, and further the property of position-singularity loci of the manipulator in parallel Z-planes is identified. It shows that position -singularity loci of 6/6-SPS Stewart manipulators in parallel Z-planes are all quadratic expressions which include infinite hyperbolas, four pairs of intersecting lines and a parabola.

Published in:

Control and Decision Conference (CCDC), 2010 Chinese

Date of Conference:

26-28 May 2010