The determination of the 6-D 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.
- Design Engineering Division and Computers and Information in Engineering Division
Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform
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Li, H, Gosselin, CM, Richard, MJ, & Mayer-St-Onge, B. "Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 367-376. ASME. https://doi.org/10.1115/DETC2004-57135
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