Abstract
The pro'blem 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 hyperbolas. Their geometric and kinematic properties are also researched as well.
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