0
Technical Briefs

A Vector Expression of the Constant-Orientation Singularity Locus of the Gough–Stewart Platform

[+] Author and Article Information
Clément Gosselin

e-mail: gosselin@gmc.ulaval.ca

Philippe Cardou

Département de Génie Mécanique,
Université Laval,
1065 Avenue de la Médecine Québec,
QC G1V 0A6, Canada

This condition is a special case which corresponds also to a type I singularity.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 17, 2012; final manuscript received April 11, 2013; published online June 10, 2013. Assoc. Editor: J. M. Selig.

J. Mechanisms Robotics 5(3), 034502 (Jun 24, 2013) (4 pages) Paper No: JMR-12-1168; doi: 10.1115/1.4024295 History: Received October 17, 2012; Revised April 11, 2013

This paper presents a vector expression of the constant-orientation singularity locus of the general Gough–Stewart platform. The third-degree vector expression obtained does not contain a constant term, which allows the factorization of an instance of the position vector, thereby leading to a very compact form. Additionally, an expression of the vector orthogonal to the singularity locus is obtained as a byproduct. An alternative expression that reduces the number of times that the position vector appears in the expression is also presented. It is shown that a simplified architecture such as that of the Minimal Simplified Symmetric Manipulator (MSSM) can significantly reduce the complexity of the coefficients appearing in the expression.

FIGURES IN THIS ARTICLE
<>
Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

A generic Gough–Stewart platform

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In