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Resolution of Singular Configuration Space of 3/6-SPS Parallel Manipulator Using an Equivalent SC Simulation Mechanism

[+] Author Affiliations
Yi Lu, Zhen Huang

Yanshan University, Qinhuangdao, Hebei, China

Paper No. DETC2005-84112, pp. 705-710; 6 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


The determination of the 6-dimensional singular configurations (SC) space of 3/6-SPS Stewart parallel manipulator is a very important and quite complicated problem. For a long time, its developments, however, have been very limited, especially the general-linear complex-SC (GSC). Currently, the Jacobian matrix and the Grassmann line geometry have been used to solve the SC space of the Stewart parallel robot. However, these two approaches are not straightforward. In this paper, a novel computer aided geometric approach is proposed for solving the 6-dimensional SC space of the 3/6-SPS Stewart parallel manipulator. First, a simulation mechanism of the 3/6-SPS parallel manipulator is created. Second, its equivalent SC simulation mechanism is created. Third, from the equivalent SC simulation mechanism, some analytical geometry formulas for solving 6-dimension SC space are derived. Finally, some SC space characteristics are analyzed, and some important developments are achieved.

Copyright © 2005 by ASME



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