Publication

Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments

Conference Article

Conference

International Workshop on Computational Kinematics (CK)

Edition

5th

Pages

1-8

Doc link

http://www.uni-due.de/ck2009

File

Download the digital copy of the doc pdf document

Abstract

An algorithm to derive the pure condition of any double-planar Stewart-Gough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets directly to the superbracket encoding of the pure condition, no straightening is required. It is then shown that any 3-3 platform has a corresponding 6-6 platform having its same superbracket, meaning that they have identical singularity loci. In general, the superbracket of any doubleplanar platform can be written as a linear combination of the superbrackets of 3-3 platforms, leading to a direct singularity assessment by inspecting the resulting decomposition.

Categories

robot kinematics.

Author keywords

Grassmann-Cayley algebra

Scientific reference

J. Borràs, F. Thomas and C. Torras. Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments, 5th International Workshop on Computational Kinematics, 2009, Duisburg, Germany, pp. 1-8, IFToMM.