PROPERTY IDENTIFICATION OF SINGULARITY LOCI OF GOUGHSTEWART MANIPULATOR  

作　　者：CAO Yi HUANG Zhen DING Huafeng ZHOU Hui 

机构地区：[1]School of Mechanical Engineering, Southern Yangtze University, Wuxi 214122, China [2]Robotics Research Center, Yanshan University,Qinhuangdao 066004, China

出　　处：《Chinese Journal of Mechanical Engineering》2006年第1期41-44,共4页中国机械工程学报（英文版）

基　　金：This project is supported by National Natural Science Foundation of China(No.50275129)

摘　　要：The problem of identifying the property of singularity loci of Gough-Stewart manipulators is addressed. After constructing the Jacobian matrix of the Gough-Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constantorientation singularity locus of the manipulator, is derived. Graphical representations of the singularity locus of the manipulator for different orientations are illustrated with examples. Further, the singularity locus of the manipulator in the principal-section, where the mobile platform lies, is analyzed. It shows that singularity loci of the ,manipulator in parallel principal-sections are all quadratic expressions including a parabola, four pairs of intersecting straight lines and infinite hwerbolas. Their geometric and kinematic properties are also researched as well.The problem of identifying the property of singularity loci of Gough-Stewart manipulators is addressed. After constructing the Jacobian matrix of the Gough-Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constantorientation singularity locus of the manipulator, is derived. Graphical representations of the singularity locus of the manipulator for different orientations are illustrated with examples. Further, the singularity locus of the manipulator in the principal-section, where the mobile platform lies, is analyzed. It shows that singularity loci of the ,manipulator in parallel principal-sections are all quadratic expressions including a parabola, four pairs of intersecting straight lines and infinite hwerbolas. Their geometric and kinematic properties are also researched as well.

关 键 词：Gough-Stewart manipulator Singularity locusProperty IDENTIFICATION 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]