Singularity property and singularity-free path planning of the Gough–Stewart parallel mechanism

Baokun Li,Sumei Liu,Yi Cao,Yingge Han,Hongtao Yang,Kang Wang

doi:10.1177/1729881417734971

Abstract

Singularity affects the performance of the parallel mechanisms seriously and so should be avoided as the mechanisms work. It is necessary to obtain the distribution of the singularity locus in the ...

Highlights

Gough–Stewart parallel mechanism (GSPM) is widely used in many applications, such as docking mechanism of the aircrafts, parallel kinematic machines, medical micromanipulators, satellite antennas, and precision position systems.[1]
An efficient algorithm to verify a trajectory for a six-degrees of freedom (DOF) PM with respect to its workspace is advanced in the study by Merlet.[11]
For the 3–3 GSPM, given two points in the task space, an algorithm is illustrated to find connected regions and a path is planned in the connected workspace.[13]

Summary

Introduction

Gough–Stewart parallel mechanism (GSPM) is widely used in many applications, such as docking mechanism of the aircrafts, parallel kinematic machines, medical micromanipulators, satellite antennas, and precision position systems.[1]. Equation (3) is the position-singularity locus for a constant-orientation of the mechanism in the moving plane x2–P–y2.

Results

Conclusion