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Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms

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Abstract

This work presents a necessary and sufficient condition to define a singularity-invariant leg rearrangement, based on an affine relation between the squared leg lengths before and after the rearrangement. This condition is then specified for four rigid components that can occur in Stewart– Gough platforms, leading to the characterization of singularity-invariant leg rearrangements on all of them.

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Author information

Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Llorens Artigas 4–6, 08028, Barcelona, Spain

    Júlia Borràs, Federico Thomas & Carme Torras

Authors
  1. Júlia Borràs
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  2. Federico Thomas
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  3. Carme Torras
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Corresponding author

Correspondence to Júlia Borràs .

Editor information

Editors and Affiliations

  1. Inst. J. Stefan, University Ljubljana, Ljubljana, Slovenia

    Jadran Lenarcic

  2. , Aerospace and Mechanical Engineering, University of Notre Dame, Fitzpatrick Hall 365, Notre Dame, 46556-5637, USA

    Michael M. Stanisic

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Borràs, J., Thomas, F., Torras, C. (2010). Singularity-Invariant Leg Rearrangements in Stewart–Gough Platforms. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_45

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  • DOI: https://doi.org/10.1007/978-90-481-9262-5_45

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-9261-8

  • Online ISBN: 978-90-481-9262-5

  • eBook Packages: EngineeringEngineering (R0)

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