All planar parallel manipulators with cylindrical singularity surface

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• 作者：Georg Nawratil
• 关键词：Stewart Gough platform ; Planar parallel manipulator ; Cylindrical singularity surface ; Architecture singular manipulators
• 刊名：Mechanism and Machine Theory
• 出版年：2009
• 出版时间：December 2009
• 年：2009
• 卷：44
• 期：12
• 页码：2179-2186
• 全文大小：457 K

文摘

In this article we give the complete list of all non-architecturally singular parallel manipulators of Stewart Gough type with planar base and platform, whose singularity set for any orientation of the platform is a cylindrical surface with rulings parallel to a given fixed direction p in the space of translations. The presented list has only two entries containing the necessary and sufficient geometric conditions of the corresponding manipulator designs possessing such a singularity surface. These manipulators have the advantage that their singularity set can easily be visualized as curve by choosing p as projection direction. Moreover the computation of singularity free zones reduces to a 5-dimensional task. We close the paper by formulating a conjecture for the non-planar case.