Identification of the largest singularity-free cylinders in the translational workspace of the semi-regular Stewart platform manipulator

  • Prem kumar Prasad
  • Sandipan BandyopadhyayEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents a method to compute the largest possible cylindrical volume within the translational workspace of the semi-regular Stewart platform manipulator (SRSPM), which would be free of gain-type singularities. An analytical approach is used in finding the singularity-free regions rather than discretising the workspace into small singularity-free volumes. Comparison with another convex shape, i.e., the sphere, is performed to demonstrate the relative importance and usefulness of using the cylindrical geometry for finding the singularity-free spaces.


Stewart platform manipulator Singularity-free cylinder Gain-type singularity 


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The first author would like to acknowledge the Council of Scientific & Industrial Research (CSIR) for the scholarship provided with file number: 09/084(0697)/2017-EMR-I.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of EngineeringDesignIndian Institute of Technology MadrasChennaiIndia

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