A New Method to Plan a Singularity-Free Path of the Stewart Platform

Qi Shuai Liu; Xi Yang; Wei Di Jin

doi:10.4028/www.scientific.net/AMM.339.27

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 339A New Method to Plan a Singularity-Free Path of...

A New Method to Plan a Singularity-Free Path of the Stewart Platform

Abstract:

This paper devotes to address the problem of the singularity of the Stewart platform, which is different from the serial mechanism. An algorithm has been constructed; also, by solving a minimum problem, it finds a alternative path to instead the preliminary path, in which there are several singular configurations. At the end of this paper, a numerical case has been developed and gives two points on the preliminary path. By applying this algorithm, a singularity-free path can be found to avoid the singularities in the preliminary path and ill-condition. So, this algorithm can be proven practical.

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Periodical:

Applied Mechanics and Materials (Volume 339)

Pages:

27-32

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.339.27

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Online since:

July 2013

Authors:

Qi Shuai Liu, Xi Yang, Wei Di Jin

Keywords:

Algorithm (GA), Ill-Condition, Singularity, Stewart Platform

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References

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