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arXiv · 0811.1122

Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform

T. Charters·P. Freitas
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Abstract

This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the bottom and top plates are related by a rotation and a contraction. It is shown that in this case the platform is always in a singular configuration and that the singular manifold can be parameterized by a scalar parameter.

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T. Charters, P. Freitas. 2008-11-07. Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform. https://arxiv.org/abs/0811.1122

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