The singularity principle and property of Stewart parallel manipulator

Journal of Robotic Systems

Volumn 20, Issue 4, 2003, Pages 163-176

  Huang, Z ^a   Chen, L H ^a   Li, Y W ^a  

^a YANSHAN UNIVERSITY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; KINEMATICS; LINEAR EQUATIONS; MATRIX ALGEBRA; THREE DIMENSIONAL; VELOCITY;

LINEAR-COMPLEX SINGULARITIES; SINGULARITY PRINCIPLE; STEWART PARALLEL MANIPULATOR;

MANIPULATORS;

EID: 0037399373     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/rob.10078     Document Type: Article

References (20)

1. V.E. Gough, Contribution to discussion to papers on research in automobile stability and control and in tire performance. Proc Auto Div Instn Mech Eng, p. 392, by Cornell staff, 1956-1957.
2. D. Stewart, A platform with six degrees of freedom, Proc Inst Mech Eng 180 (1965), 371-378.
3. K.H. Hunt, Structural kinematics of in-parallel-actuated robot-arms, ASME J Mech Trans Autom Des 105 (1983), 705-712.
4. E.F. Fitcher, A Stewart platform-based manipulator: General theory and practical construction, Int J Robot Res 5 (1986), 157-182.
5. Z. Huang and Y.Y. Qu, The analysis of the special configuration of the spatial parallel manipulators, The 5th National Mechanism Conference, Lu Shan, China, 1987, pp. 1-7.
6. Z. Huang, L.F. Kong, and Y.F. Fang, Theory and control of parallel robotic mechanisms manipulator, Beijing, China, Publisher of Mechanical Industry, 1997.
7. J.P. Merlet, Parallel manipulator part 2: Singular configurations and Grassmann geometry, Technical report, INRIA, Sophia Antipolis, France, 1988.
8. J.P. Merlet, Singular configurations of parallel manipulators and Grassmann geometry, Int J Robot Res 8 (1989), 45-56.
9. J.P. Merlet, On the infinitesimal motion of a parallel manipulator in singular configurations, Proc IEEE Int Conf Rob Autom 1992, pp. 320-325.
10. D. Basu and A. Ghosal, Singularity analysis of platform-type multi-loop spatial mechanism, Mech Mach Theory 32 (1997), 375-389.
11. G.L. Long, Use of the cylindroid for the singularity analysis of rank 3 robot manipulator, Mech Mach Theory 32 (1997), 391-404.
12. C. Gosselin and J. Angeles, Singularity analysis of closed-loop kinematic chains, IEEE Trans Rob Autom 6 (1990), 281-190.
13. J. Sefrioui and C. Gosselin, Etude et représentation des lieux de singularité des manipulateurs parallèles sphériques à trois degrés de liberté avec actionneurs prismatiques, Mech Mach Theory 29 (1994), 559-579.
14. J. Sefrioui and C. Gosselin, On the quadratic nature of the singularity curves of planar three-degree-of-freedom parallel manipulators, Mech Mach Theory 30 (1995), 533-551.
15. J. Wang and C. Gosselin, Kinematic analysis and singularity representation of spatial five-degree-of-freedom parallel mechanisms, J Robot Syst 14 (1997), 851-869.
16. B. Mayer St-Onge and C. Gosselin, Singularity analysis and representation of the general Gough-Stewart platform, Int J Robot Res 19:(3) (2000), 271-288.
17. Z. Huang, Y. Zhao, J. Wang, and J. Yu, Kinematic principle and geometrical condition of general-linear-complex special configuration of parallel manipulators, Mech Mach Theory 34 (1999), 1171-1186.
18. Z. Huang and X. Du, General-linear-complex singularity analysis of 3/6-style Stewart parallel manipulator, Mech Eng China 10:(9) (1999), 997-1000.
19. K.H. Hunt, Kinematic geometry of mechanisms, Oxford U. P., Oxford, UK, 1978.
20. R.S. Ball, Theory of screw, Cambridge U. P., Cambridge, 1900.