1992 · 18 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringRobot KinematicsRoboticsStructural AnalysisManipulator DynamicsMulti-degree-of-freedom SystemsParallel Robot KinematicsSingularity AnalysisInstantaneous KinematicsManipulator KinematicsManipulator ModelingParallel Manipulator SingularitiesParallel ManipulatorsSingularity FormationSingularity IdentificationStewart Platform Kinematics
Abstract In this paper, a new method for identifying singular configurations causing instabilities in a platform-type parallel manipulator is presented. The method is based on a recently developed forward instantaneous kinematic formulation and the principle of reciprocity of screws. An analytical singularity condition is derived for a Stewart Platform type manipulator by using the method. It is believed that this is the first analytical expression for configuration singularity of a platform-type parallel manipulator. An illustrative example of a 3 DOF parallel manipulator is also discussed in detail in the paper.