Kinematic and Static Characteristics of In-Parallel Actuated Manipulators at Singular Points and in Their Neighborhood

摘要

In the process of mechanism design and trajectory planning of in-parallel actuated manipulators, it is necessary to know the locations of all singular points in the working space. We propose a new method for numerically locating the singular points of in-parallel actuated manipulators based on the pressure angle. A singular-point curve is defined as a set of singular points. Kinematic and static characteristics at singular points are analyzed by pressure angles and instantaneous screw axes. Singular points of the Stewart Platform are investigated using the proposed method. The neighborhood of singular points is determined from output error, isotropy of output force and driving force, and thus the practical working space is defined.