Orientation-singularity and orientation capability analyses of the stewart-gough manipulator

Y. Cao; Z. Huang; Q. J. Ge

doi:10.1115/detc2005-84556

Orientation-singularity and orientation capability analyses of the stewart-gough manipulator

Y. Cao
, Z. Huang
, Q. J. Ge

Mechanical Engineering

Yanshan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Scopus citations

Abstract

In this paper, the orientation-singularity and orientation capability analyses of the Stewart-Gough manipulator are presented. Based on a particular kind of orientation representation of the manipulator, a polynomial expression of degree thirteen is derived, which represents the orientationsingularity locus of the manipulator at a given position, and examples are given to illustrate the result. The description of the orientation capability of the manipulator and the orientation capability index are discussed. In addition, effects of the geometry parameters of the moving platform, including the central angle, the ratio of the moving platform to the base one and the position of the moving platform on the orientation capability of the manipulator are also presented in this paper.

Original language	English
Title of host publication	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005
Subtitle of host publication	29th Mechanisms and Robotics Conference
Publisher	American Society of Mechanical Engineers
Pages	1009-1015
Number of pages	7
ISBN (Print)	0791847446, 9780791847442
DOIs	https://doi.org/10.1115/detc2005-84556
State	Published - 2005
Event	DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - Long Beach, CA, United States Duration: Sep 24 2005 → Sep 28 2005

Publication series

Name	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005
Volume	7 B

Conference

Conference	DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Country/Territory	United States
City	Long Beach, CA
Period	09/24/05 → 09/28/05

Access to Document

10.1115/detc2005-84556

Cite this

Cao, Y., Huang, Z., & Ge, Q. J. (2005). Orientation-singularity and orientation capability analyses of the stewart-gough manipulator. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005: 29th Mechanisms and Robotics Conference (pp. 1009-1015). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005; Vol. 7 B). American Society of Mechanical Engineers. https://doi.org/10.1115/detc2005-84556

Cao, Y. ; Huang, Z. ; Ge, Q. J. / Orientation-singularity and orientation capability analyses of the stewart-gough manipulator. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005: 29th Mechanisms and Robotics Conference. American Society of Mechanical Engineers, 2005. pp. 1009-1015 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005).

@inproceedings{2d20f5c418034cc9aaa543885aa24d7c,

title = "Orientation-singularity and orientation capability analyses of the stewart-gough manipulator",

abstract = "In this paper, the orientation-singularity and orientation capability analyses of the Stewart-Gough manipulator are presented. Based on a particular kind of orientation representation of the manipulator, a polynomial expression of degree thirteen is derived, which represents the orientationsingularity locus of the manipulator at a given position, and examples are given to illustrate the result. The description of the orientation capability of the manipulator and the orientation capability index are discussed. In addition, effects of the geometry parameters of the moving platform, including the central angle, the ratio of the moving platform to the base one and the position of the moving platform on the orientation capability of the manipulator are also presented in this paper.",

author = "Y. Cao and Z. Huang and Ge, \{Q. J.\}",

year = "2005",

doi = "10.1115/detc2005-84556",

language = "English",

isbn = "0791847446",

series = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005",

publisher = "American Society of Mechanical Engineers",

pages = "1009--1015",

booktitle = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005",

note = "DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference ; Conference date: 24-09-2005 Through 28-09-2005",

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Cao, Y, Huang, Z & Ge, QJ 2005, Orientation-singularity and orientation capability analyses of the stewart-gough manipulator. in Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005: 29th Mechanisms and Robotics Conference. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005, vol. 7 B, American Society of Mechanical Engineers, pp. 1009-1015, DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Long Beach, CA, United States, 09/24/05. https://doi.org/10.1115/detc2005-84556

Orientation-singularity and orientation capability analyses of the stewart-gough manipulator. / Cao, Y.; Huang, Z.; Ge, Q. J.
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005: 29th Mechanisms and Robotics Conference. American Society of Mechanical Engineers, 2005. p. 1009-1015 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005; Vol. 7 B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Orientation-singularity and orientation capability analyses of the stewart-gough manipulator

AU - Cao, Y.

AU - Huang, Z.

AU - Ge, Q. J.

PY - 2005

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N2 - In this paper, the orientation-singularity and orientation capability analyses of the Stewart-Gough manipulator are presented. Based on a particular kind of orientation representation of the manipulator, a polynomial expression of degree thirteen is derived, which represents the orientationsingularity locus of the manipulator at a given position, and examples are given to illustrate the result. The description of the orientation capability of the manipulator and the orientation capability index are discussed. In addition, effects of the geometry parameters of the moving platform, including the central angle, the ratio of the moving platform to the base one and the position of the moving platform on the orientation capability of the manipulator are also presented in this paper.

AB - In this paper, the orientation-singularity and orientation capability analyses of the Stewart-Gough manipulator are presented. Based on a particular kind of orientation representation of the manipulator, a polynomial expression of degree thirteen is derived, which represents the orientationsingularity locus of the manipulator at a given position, and examples are given to illustrate the result. The description of the orientation capability of the manipulator and the orientation capability index are discussed. In addition, effects of the geometry parameters of the moving platform, including the central angle, the ratio of the moving platform to the base one and the position of the moving platform on the orientation capability of the manipulator are also presented in this paper.

UR - https://www.scopus.com/pages/publications/33244492861

U2 - 10.1115/detc2005-84556

DO - 10.1115/detc2005-84556

M3 - Conference contribution

AN - SCOPUS:33244492861

SN - 0791847446

SN - 9780791847442

T3 - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005

SP - 1009

EP - 1015

BT - Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005

PB - American Society of Mechanical Engineers

T2 - DETC2005: ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

Y2 - 24 September 2005 through 28 September 2005

ER -

Cao Y, Huang Z, Ge QJ. Orientation-singularity and orientation capability analyses of the stewart-gough manipulator. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conferences - DETC2005: 29th Mechanisms and Robotics Conference. American Society of Mechanical Engineers. 2005. p. 1009-1015. (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - DETC2005). doi: 10.1115/detc2005-84556

Orientation-singularity and orientation capability analyses of the stewart-gough manipulator

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