Qu, The analysis of the special configuration of the spatial parallel manipulators, The 5th National Mechanism Conference, Lu Shan, Jiangxi, China (1987) 1–7. Fichter, A Stewart platform-based manipulator: general theory and practical construction, The International Journal of Robotics Research, 5(2) (1986) 157–182. Hunt, Structural kinematics of in-parallel-actuatedrobotarms, Journal of Mechanisms, Transmissions, and Automation in Design, 105(4) (1983) 705–712.Į. Stewart, A Platform with six degrees of freedom, Proceedings of the Institution of Mechanical Engineers Part C: Journal of Mechanical Engineering Science, 180(5) (1965) 371–378. Gough, Contribution to discussion to papers on research in automobile stability and control and in tire performance, Proceedings of the Automobile Division Institution of Mechanical Engineers, New York, USA (1957) 392–399.ĭ. It is shown that position-singularity loci of the 6-3 Stewart-Gough parallel manipulator for these special orientations will be a plane and a hyperbolic paraboloid, even three intersecting planes. With the above-mentioned condition, a symbolic analytical polynomial expression of degree three in the moving platform position parameters, representing the position-singularity locus of the 6-3 Stewart-Gough manipulators for special orientations, is derived and the property identification of the position-singularity loci of the 6-3 Stewart-Gough manipulator for these special orientations is investigated at length.
Based on the kinematic relationship of a rigid body, a necessary and sufficient condition that three velocities of three non-collinear points in a moving rigid body can determine a screw motion is addressed and some typical singular configurations of the 6-3 Stewart-Gough parallel manipulators are also addressed in detail.
This paper presents a new principle and method of kinematics to analyze the singularity of Stewart-Gough parallel manipulators and addresses the property identification of the position-singularity loci of the 6-3 Stewart-Gough manipulators for special orientations.