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Results on Planar Parallel Manipulators with Cylindrical Singularity Surface

  • G. Nawratil

Abstract

In this article we give first results on Stewart Gough Platforms with planar base and platform, whose singularity set for any orientation of the platform is a cylindrical surface with rulings parallel to a given fixed direction p in the space of translations. In this case the singularity set can easily be visualized as curve by choosing p as projection direction. Moreover the computation of singularity free zones reduces to a 5-dimensional task. We prove that there do not exist non-architecturally singular Stewart Gough Platforms with planar base and platform and no four anchor points collinear which possess such a singularity surface.

Key words

Stewart Gough Platform planar parallel manipulator cylindrical singularity surface architecture singular manipulators 

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Copyright information

© Springer Science+Business Media B.V 2008

Authors and Affiliations

  • G. Nawratil
    • 1
  1. 1.Institute of Discrete Mathematics and GeometryVienna University of TechnologyViennaAustria

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