Direct kinematic singularities of 3-3 Stewart–Gough platforms
學年 93
學期 1
出版（發表）日期 2005-01-01
作品名稱 Direct kinematic singularities of 3-3 Stewart–Gough platforms
作品名稱（其他語言）
著者 劉昭華; Liu, Chao-hwa; Chiu, J.
單位 淡江大學機械與機電工程學系
出版者 Professional Engineering Publishing (Institution of Mechanical Engineers)
著錄名稱、卷期、頁數 Proceedings of the Institution of Mechanical Engineers, Part K, Journal of Multi-body Dynamics 219(4), pp.311-324
摘要 In this article, a method to locate direct kinematic singularities of a 3-3 Stewart-Gough parallel manipulator (called a Stewart manipulator henceforth) is proposed. The Stewart manipulator is first replaced by an analogous manipulator, the 3PRPS parallel manipulator, and as the first three active joints of this manipulator remain fixed, this manipulator reduces to an asymmetric 3RPS parallel manipulator. With all moving platform's degrees of freedom, except its height, properly specified, there exists at least one height that gives rise to direct kinematic singularity of the asymmetric 3RPS manipulator and this height is a root of a cubic polynomial equation. The procedure to locate direct kinematic singularities thus reduces to solving cubic polynomial equations. Numerical results show that every singular configuration of the asymmetric 3RPS manipulator thus-determined is also a singular configuration of the 3-3 Stewart-Gough platform.
關鍵字
語言 en
ISSN 0954-4062
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者
審稿制度 否
國別 GBR
公開徵稿
出版型式 ,紙本
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