Singularity analysis of a class of the 6-6 stewart platforms

Proceedings of the ASME Design Engineering Technical Conference

Volumn 1A-1998, Issue , 1998, Pages

  Wang, Guozhen ^a  

^a JINAN UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

INDUSTRIAL ENGINEERING;

BASE PLATFORMS; DIRECT KINEMATICS; PRISMATIC JOINT; SINGULAR POINTS; SINGULARITY ANALYSIS; SINGULARITY CONDITION; STEWART PLATFORMS;

ENGINEERING;

EID: 0004877033     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC98/MECH-5954     Document Type: Conference Paper

References (8)

1. Frazer, R. A., et al., 1960, Elementary Matrices, Cambridge University Press, pp. 250-256.
2. Ma, O., and Angeles, J., 1991, ?Architecture Singularities of Platform Manipulators, ? Proc. of the 1991 IEEE Inter. Co@ on Robotics and Automation, Vo1. 2, pp. 1542-1547.
3. Mayer, S. B., and Gosselin, C. M., 1996, ?Singularity Analysis and Representation of Spatial Six-DOF Parallel Manipulators, ? Proceedings of the 5th International Symposium and Advances in Robot Kinematics(ARK), Portoroz-Bemardin, Slovenia, 22-26 June, pp. 389-398.
4. Merle& J. P., 1989, ?Singularity Configurations of Parallel Manipulators and Grassmann Geometry, ? The International Journal of Robotics Research, Vol. 8, No. 5, pp. 45-56.
5. Sefrioui, J., and Gosselin, C., 1995, ?On the Quadratic Nature of the Singularity Curves of Planar Three-Degree-of- Freedom Parallel Manipulators, ? Mechanism and Machine Theory, Vol. 30, No. 4, pp. 533-551.
6. Sreenivasan, S. V., Waldron, K. J., and Nanua, P., 1994, ?Closed-form Direct Displacement Analysis of a 6-6 Stewart Platform, ? Mech. Mach. Theory, Vol. 29, No. 6, pp. 855-864.
7. Stewart, D., 1965 ?A Platform with Six Degrees of Freedom, ? Proceedings of the Institution of Mechanical Engineers, Vol. 180, Part I, No. 15, pp. 371-386, 1965-66.
8. Wang, G., 1992, ?Forward Displacement Analysis of A Class of the 6-6 Stewart Platforms, ? Robotics, Spatial Mechanisms, and Mechanical Systems, ASME DE-Vol. 45, pp. 113-l 17.