Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform

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dc.creatorCharters, T.
dc.creatorFreitas, P.
dc.date2008-11-07
dc.date.accessioned2026-07-07T10:16:49Z
dc.date.available2026-07-07T10:16:49Z
dc.descriptionThis paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the bottom and top plates are related by a rotation and a contraction. It is shown that in this case the platform is always in a singular configuration and that the singular manifold can be parameterized by a scalar parameter.
dc.description7 pages, 1 figure
dc.identifierhttps://arxiv.org/abs/0811.1122
dc.identifierhttp://arxiv.org/abs/0811.1122
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/173644
dc.subjectMathematical Physics
dc.titleCharacterization and parameterization of the singular manifold of a simple 6-6 Stewart platform
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