Affiliation:
1. Département de Génie Mécanique, Université Laval, Québec, Canada, G1K 7P4
2. (418)-656-3474
(418)-656-7415
Abstract
The determination of the 6D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new procedure is introduced to obtain the analytical expression of the singularity locus, which is a function of six variables (x,y,z,ϕ,θ,ψ), using the velocity equation. Examples are also given to illustrate the results obtained. Gough-Stewart platforms can be used in several robotic applications as well as in flight simulators. The determination of the singularity locus is a very important design and application issue.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
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