Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform
Mathematical Physics
2008-11-10 v1 math.MP
Abstract
This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the bottom and top plates are related by a rotation and a contraction. It is shown that in this case the platform is always in a singular configuration and that the singular manifold can be parameterized by a scalar parameter.
Keywords
Cite
@article{arxiv.0811.1122,
title = {Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform},
author = {T. Charters and P. Freitas},
journal= {arXiv preprint arXiv:0811.1122},
year = {2008}
}
Comments
7 pages, 1 figure