Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
804913 | Mechanism and Machine Theory | 2010 | 13 Pages |
Abstract
In the general case the singularity locus of a parallel manipulator of Stewart Gough type is a cubic surface in the space of translations. In this article we determine all Stewart Gough platforms which possess only a linear or quadratic singularity surface. These manipulators have the advantage, that their singularity surface can easily be visualized because it is a plane or a quadric for any orientation of the platform. Moreover we also give a geometric interpretation of these manipulators.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Industrial and Manufacturing Engineering
Authors
Georg Nawratil,