简单6-6 Stewart平台奇异流形的特征和参数化
Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform
摘要：
本文提出了一种六自由度并联机器人通常被称为Stewart平台的奇异流形的特征的研究。我们考虑一个平台的基础顶点在一个圆圈和底部和顶部的板块有关的旋转和收缩。结果表明，在这种情况下，平台总是在一个奇异的配置和奇异流形可以参数化的标量参数。
英文摘要：
This 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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
