Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform

DOI10.1007/978-90-481-9884-9_30MaRDI QIDQ5393591zbMATH OpenOpenAlexFDO

Authors Tiago C. Charters, Pedro Freitas

Publication date 18 April 2011

Published in Nonlinear Science and Complexity (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0811.1122

zbMATH Keywords

dynamicssingular solutionsStewart platform

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Abstract: This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the bottom and top plates are related by a rotation and a contraction. It is shown that in this case the platform is always in a singular configuration and that the singular manifold can be parameterized by a scalar parameter.

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• An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators
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