This paper presents a new analytic expression for the singularity locus of 6-4 fullyparallel manipulators (FPMs) with two double spherical pairs. The new expression allows the separation of the geometric constant parameters from the configuration dependent ones, and it is specially useful for designing manipulators referable to this architecture. The presented expression is deduced from a singularity-locus expression previously proposed by the author for the general Gough-Stewart platform, and it highlights that the shape of the singularity locus depends on the properties of a 3×3 matrix.
Singularity Locus of 6-4 Fully-Parallel Manipulators
DI GREGORIO, Raffaele
2010
Abstract
This paper presents a new analytic expression for the singularity locus of 6-4 fullyparallel manipulators (FPMs) with two double spherical pairs. The new expression allows the separation of the geometric constant parameters from the configuration dependent ones, and it is specially useful for designing manipulators referable to this architecture. The presented expression is deduced from a singularity-locus expression previously proposed by the author for the general Gough-Stewart platform, and it highlights that the shape of the singularity locus depends on the properties of a 3×3 matrix.File in questo prodotto:
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