Singularity Elimination of Stewart Parallel Manipulator Based on Redundant Actuation

Abstract

This paper mainly addresses the principle of the singularity elimination of the Stewart parallel platform. By adding appropriate redundant actuation, the rank of the Jacobian matrix of the parallel platform is always full, accordingly the singular value of the Jacobian matrix of the parallel platform is nonzero. Then the singular configuration of the parallel platform can be eliminated by adding one redundant actuation. Numerical examples are taken to illuminate the principle’s effectiveness. It is shown that not only singular configurations of the Stewart parallel platform can be eliminated, but also performances of kinematics and dynamics of the parallel platform can be greatly perfected by adding appropriate redundant actuation.

Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations

“…(a) Actuation redundancy: One possibility is to add a 7th SPS-leg to the manipulator (e.g. [1,2,3]), but it should be noted that there exist dangerous locations for the attachments m 7 and M 7 (cf. [4]), which do not result in a reduction of singularities.…”