Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform

Details Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform

2008-11-07

arxiv.org/abs/0811.1122v1

Physics

Mathematical Physics

7 pages, 1 figure

Scientific paper

This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the bottom and top plates are related by a rotation and a contraction. It is shown that in this case the platform is always in a singular configuration and that the singular manifold can be parameterized by a scalar parameter.

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