Abstract
In this contribution we present the complete list of all non-planar architecture singular six-legged platforms (Stewart-Gough type manipulators). We show that they all must satisfy certain assembly conditions (the space of joint parameters is degenerate, we cannot freely prescribe the leg lengths). All non-planar architecture singular parallel manipulators have self-motions for every possible configuration. To every such manipulator we can add infinitely many legs without disturbing its geometrical properties and self-motions. Inspection of the list of non-planar architecture singular parallel manipulators shows that they are invariant with respect to projective transformations in both fixed and moving spaces.
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© 2000 Springer Science+Business Media Dordrecht
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Husty, M., Karger, A. (2000). Architecture Singular Parallel Manipulators and their Self-Motions. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_37
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DOI: https://doi.org/10.1007/978-94-011-4120-8_37
Publisher Name: Springer, Dordrecht
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