Stewart-Gough platforms with simple singularity surface

DOI10.1007/978-1-4020-4941-5_27MaRDI QIDQ3196237zbMATH OpenOpenAlexFDO

Authors Adolf Karger

Publication date 29 October 2015

Published in Advances in Robot Kinematics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4020-4941-5_27

zbMATH Keywords

parallel manipulatorssingular positionsStewart-Gough platformsstudy representation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(23)

• Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator
• All planar parallel manipulators with cylindrical singularity surface
• The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane.
• Singularities and self-motions of equiform platforms
• A new line-symmetric mobile infinity-pod
• Position-singularity analysis of 6-3 Stewart-Gough parallel manipulators for special orientations
• The control number as index for Stewart Gough platforms
• Singularity of a class of Gough-Stewart platforms with three concurrent joints
• Parallel manipulators with simple geometrical structure
• Main theorem on planar parallel manipulators with cylindrical singularity surface
• Hypersurfaces of special configurations of serial manipulators and related concepts. part I: Theory and development of the hypersurfaces of special configurations
• Types of self-motions of planar Stewart Gough platforms
• Planar Stewart Gough platforms with a type II DM self-motion
• scientific article; zbMATH DE number 1424267 (Why is no real title available?)
• Rationality of the locus of singularities of the general Gough-Stewart platform
• Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform
• Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator
• Stewart Gough platforms with non-cubic singularity surface
• A remarkable set of Schönflies-singular planar Stewart Gough platforms
• Self-motions of Stewart-Gough platforms
• Stratifications of the Euclidean motion group with applications to robotics
• Geometric characterization and parametric representation of the singularity manifold of a 6--6 Stewart platform manipulator
• Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough--Stewart platform

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