Singularity Elimination of Stewart Parallel Manipulator Based on Redundant Actuation
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.
H. Wang, B.J. Zhang, X.Z. Liu, D.Z. Luo, S.B. Zhong
Y. Cao et al., "Singularity Elimination of Stewart Parallel Manipulator Based on Redundant Actuation", Advanced Materials Research, Vols. 143-144, pp. 308-312, 2011