Singularity Elimination of Stewart Parallel Manipulator Based on Redundant Actuation
| Autor: | Shen Long, Baokun Li, Yi Cao, Meng Si Liu, Hui Zhou |
|---|---|
| Rok vydání: | 2010 |
| Předmět: |
Rank (linear algebra)
MathematicsofComputing_NUMERICALANALYSIS General Engineering Parallel manipulator Stewart platform Kinematics Computer Science::Robotics symbols.namesake Singular value Singularity Control theory ComputingMethodologies_SYMBOLICANDALGEBRAICMANIPULATION Jacobian matrix and determinant symbols Singular configuration Mathematics |
| Zdroj: | Advanced Materials Research. :308-312 |
| ISSN: | 1662-8985 |
| DOI: | 10.4028/www.scientific.net/amr.143-144.308 |
| Popis: | This paper mainly addresses the principle of the singularity elimination of the Stewart parallel platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the parallel platform is always full, accordingly the singular value of the Jacobian matrix of the parallel platform is nonzero. Then the singular configuration of the parallel platform can be eliminated by adding one redundant actuation. Numerical examples are taken to illuminate the principle’s effectiveness. It is shown that not only singular configurations of the Stewart parallel platform can be eliminated, but also performances of kinematics and dynamics of the parallel platform can be greatly perfected by adding appropriate redundant actuation. |
| Databáze: | OpenAIRE |
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