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Journal of Zhejiang University SCIENCE A 2008 Vol.9 No.11 P.1539~1551

http://doi.org/10.1631/jzus.A0720034


Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator


Author(s):  Yu-tong LI, Yu-xin WANG, Shuang-xia PAN, Rui-qin GUO

Affiliation(s):  College of Mechanical Engineering and Energy, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   creativetj@263.com

Key Words:  Parallel manipulator, Singularity hypersurface, Singularity-free moving region


Yu-tong LI, Yu-xin WANG, Shuang-xia PAN, Rui-qin GUO. Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator[J]. Journal of Zhejiang University Science A, 2008, 9(11): 1539~1551.

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author="Yu-tong LI, Yu-xin WANG, Shuang-xia PAN, Rui-qin GUO",
journal="Journal of Zhejiang University Science A",
volume="9",
number="11",
pages="1539~1551",
year="2008",
publisher="Zhejiang University Press & Springer",
doi="10.1631/jzus.A0720034"
}

%0 Journal Article
%T Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator
%A Yu-tong LI
%A Yu-xin WANG
%A Shuang-xia PAN
%A Rui-qin GUO
%J Journal of Zhejiang University SCIENCE A
%V 9
%N 11
%P 1539~1551
%@ 1673-565X
%D 2008
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A0720034

TY - JOUR
T1 - Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator
A1 - Yu-tong LI
A1 - Yu-xin WANG
A1 - Shuang-xia PAN
A1 - Rui-qin GUO
J0 - Journal of Zhejiang University Science A
VL - 9
IS - 11
SP - 1539
EP - 1551
%@ 1673-565X
Y1 - 2008
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A0720034


Abstract: 
The singular points of a 6-SPS Stewart platform are distributed on the multi-dimensional singularity hypersurface in the task-space, which divides the workspace of the manipulator into several singularity-free regions. Because of the motion uncertainty at singular points, while the manipulator traverses this kind of hypersurface from one singularity-free region to another, its motion cannot be predetermined. In this paper, a detailed approach for the manipulator to traverse the singularity hypersurface with its non-persistent configuration is presented. First, the singular point transfer disturbance and the pose disturbance, which make the perturbed singular point transfer horizontally and vertically, respectively, are constructed. Through applying these disturbances into the input parameters within the maximum loss control domain, the perturbed persistent configuration is transformed into its corresponding non-persistent one. Under the action of the disturbances, the manipulator can traverse the singularity hypersurface from one singularity-free region to another with a desired configuration.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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