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Self-Motions of 6–3 Stewart–Gough Type Parallel Manipulators

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Advances in Robot Kinematics: Motion in Man and Machine

Abstract

In the paper we show that every 6–3 Stewart–Gough (SG) platform has self-motions. This yields an example of self-motions for a class of SG platforms which are not architecturally singular. We present three types of self-motions, general self-motion if the platform is in some sense congruent to the base, a butterfly type self motion and a spherical four-bar mechanism selfmotion. For the last two cases there is no restriction for the geometry of the platform. We believe that this yields all possible self motions of the 6–3 platform, but we are not able to give the proof, corresponding equations are too complex.

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Authors and Affiliations

  1. Faculty of Mathematics and Physics, Charles University, Praha, Czech Republic

    Adolf Karger

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  1. Adolf Karger
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Correspondence to Adolf Karger .

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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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Karger, A. (2010). Self-Motions of 6–3 Stewart–Gough Type Parallel Manipulators. 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_38

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  • DOI: https://doi.org/10.1007/978-90-481-9262-5_38

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-90-481-9261-8

  • Online ISBN: 978-90-481-9262-5

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