A remarkable set of Schonflies-singular planar Stewart Gough platforms

作者：Nawratil Georg^*

来源：Computer Aided Geometric Design, 2010, 27(7): 503-513.

DOI：10.1016/j.cagd.2010.06.005

• Schonflies motion group
• Stewart Gough platform
• Planar parallel manipulator
• Schonflies-singular manipulators
• Self-motions

We present a set of planar parallel manipulators of Stewart Gough type which are singular with respect to the Schonflies group X(a) without being architecturally singular. This set of so-called Schonflies-singular planar parallel manipulators is characterized by the property that the carrier plane of the platform or of the base anchor points is orthogonal to the rotational axis a of the Schonflies group X(a). By giving the necessary and sufficient conditions we provide a complete classification of this set. Beside this algebraic characterization we also present a geometric one. Moreover we discuss the self-motional behavior of these manipulators and prove that they possess a quadratic singularity surface.

• 出版日期2010-10