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CAO Yi
School of Mechanical Engineering,
Southern Yangtze University,
Wuxi 214122, China
HUANG Zhen
DING Huafeng
Robotics Research Center,
Yanshan University,
Qinhuangdao 066004, China
ZHOU Hui
School of Mechanical Engineering,
Southern Yangtze University,
Wuxi 214122, China |
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PROPERTY
IDENTIFICATION OF
SINGULARITY LOCI OF GOUGH-
STEWART MANIPULATOR*
Abstract:
The problem of identifying the property of singularity loci of Gough-Stewart manipulators is addressed. After constructing the Jacobian matrix of the Gough-Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constant- orientation singularity locus of the manipulator, is derived. Graphical representations of the singularity locus of the manipulator for different orientations are illustrated with examples. Further, the singularity locus of the manipulator in the principal-section, where the mobile platform lies, is analyzed. It shows that singularity loci of the manipulator in parallel principal-sections are all quadratic expressions including a parabola, four pairs of intersecting straight lines and infinite hyperbolas. Their geometric and kinematic properties are also researched as well.
Key words:
Gough-Stewart manipulator Singularity locus Property identification |