Y. Cao and Z. Huang (PRC)
Parallel Manipulators, singularity loci, singularity classification, and property identification.
This paper addressed the problem of identifying the property of the singularity loci of the Gough-Stewart manipulators. After constructing the Jacobian matrix of the Gough-Stewart manipulator, a cubic singularity locus equation of the manipulator is derived. Graphical representations of the singularity loci for different orientations are illustrated with examples. Further, we analyze the singularity locus in a principal-section, where the moving platform lies. It shows that singularity loci in parallel principal-sections are all quadratic expressions including a parabola, four pairs of intersecting straight lines and infinite hyperbolas. Their geometric interpretations and the properties of the singularity loci are further analyzed.
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