Determination of the maximal singularity-free zones in the six-dimensional workspace of the general Gough--Stewart platform

DOI10.1016/J.MECHMACHTHEORY.2006.04.006MaRDI QIDQ875554zbMATH OpenOpenAlexFDO

Authors Clément M. Gosselin, Marc J. Richard, Haidong Li

Publication date 13 April 2007

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.04.006

zbMATH Keywords

path planningparallel mechanismssingularity equation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(11)

• Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator
• A novel method for singularity analysis of the 6-SPS parallel mechanisms
• Singularity of a class of Gough-Stewart platforms with three concurrent joints
• Determination of the maximal singularity-free orientation workspace for the Gough-Stewart platform
• Stewart Gough platforms with non-cubic singularity surface
• Symmetrical characteristics of the workspace for spatial parallel mechanisms with symmetric structure
• Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure
• Non-singular assembly-mode changing motions for 3-R{\b P}R parallel manipulators
• Obtaining configuration space and singularity maps for parallel manipulators
• A novel method to avoid turning point singularities for the semi-regular hexagons Gough-Stewart parallel manipulator
• Determination of maximal singularity-free zones in the workspace of planar three-degree-of-freedom parallel mechanisms

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