Singularity elimination of Stewart Platform using redundant actuation

This paper mainly addresses the principle of the singularity elimination of the Stewart Platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the platform is always full, accordingly the singular value of the Jacobian matrix of the platform is nonzero. Then the singular configuration of the platform can be eliminated by adding one redundant actuation. Numerical examples are taken to illuminate the principle's effectiveness. It is shown that not only singular configurations of the Stewart Platform can be eliminated, but also performances of kinematics and dynamics of the platform can be greatly perfected by adding appropriate redundant actuation.