Singularity of a class of Gough-Stewart platforms with three concurrent joints

DOI10.1007/978-1-4020-4941-5_29MaRDI QIDQ3196239zbMATH OpenOpenAlexFDO

Authors Patricia Ben-Horin, Moshe Shoham

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_29

zbMATH Keywords

singularityGrassmann-Cayley algebradecoupled parallel robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(6)

• A geometrical interpretation of 3-3 mechanism singularities
• Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform
• Stewart Gough platforms with non-cubic singularity surface
• A remarkable set of Schönflies-singular planar Stewart Gough platforms
• Rationality of the locus of singularities of the general Gough-Stewart platform
• Singularity analysis of a class of parallel robots based on Grassmann-Cayley algebra

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