Paper Title:
Singularity Elimination of Stewart Parallel Manipulator Based on Redundant Actuation
  Abstract

This paper mainly addresses the principle of the singularity elimination of the Stewart parallel platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the parallel platform is always full, accordingly the singular value of the Jacobian matrix of the parallel platform is nonzero. Then the singular configuration of the parallel platform can be eliminated by adding one redundant actuation. Numerical examples are taken to illuminate the principle’s effectiveness. It is shown that not only singular configurations of the Stewart parallel platform can be eliminated, but also performances of kinematics and dynamics of the parallel platform can be greatly perfected by adding appropriate redundant actuation.

  Info
Periodical
Advanced Materials Research (Volumes 143-144)
Edited by
H. Wang, B.J. Zhang, X.Z. Liu, D.Z. Luo, S.B. Zhong
Pages
308-312
DOI
10.4028/www.scientific.net/AMR.143-144.308
Citation
Y. Cao, H. Zhou, B. K. Li, S. Long, M. S. Liu, "Singularity Elimination of Stewart Parallel Manipulator Based on Redundant Actuation", Advanced Materials Research, Vols. 143-144, pp. 308-312, 2011
Online since
October 2010
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Price
$32.00
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