In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant. Identification of such rearrangements is useful not only for the kinematic analysis of the platforms, but also as a tool to redesign manipulators avoiding the implementation of multiple spherical joints, which are difficult to construct and have a small motion range. In this study, a summary of these singularity-invariant leg rearrangements is presented, and their practical implications are illustrated with several examples including well-known architectures. ; Peer Reviewed ; Postprint (author’s final draft)


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    Stewart Gough platforms with non-cubic singularity surface

    Nawratil, Georg | Online Contents | 2010




    Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms

    Borràs Sol, Júlia / Thomas, Federico / Torras, Carme | BASE | 2010

    Free access

    Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms

    Borràs, Julia / Thomas, Federico / Torras, Carme | BASE | 2010

    Free access