| contributor author | Haidong Li | |
| contributor author | Clément M. Gosselin | |
| contributor author | Marc J. Richard | |
| contributor author | Boris Mayer St-Onge | |
| date accessioned | 2017-05-09T00:21:11Z | |
| date available | 2017-05-09T00:21:11Z | |
| date copyright | January, 2006 | |
| date issued | 2006 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27819#279_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/134400 | |
| description abstract | The determination of the 6D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new procedure is introduced to obtain the analytical expression of the singularity locus, which is a function of six variables (x,y,z,ϕ,θ,ψ), using the velocity equation. Examples are also given to illustrate the results obtained. Gough-Stewart platforms can be used in several robotic applications as well as in flight simulators. The determination of the singularity locus is a very important design and application issue. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform | |
| type | Journal Paper | |
| journal volume | 128 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2118733 | |
| journal fristpage | 279 | |
| journal lastpage | 287 | |
| identifier eissn | 1528-9001 | |
| tree | Journal of Mechanical Design:;2006:;volume( 128 ):;issue: 001 | |
| contenttype | Fulltext | |