@article{4ff719fd9f4f4671896a00dabbd8773e,
title = "A complete geometric singular characterization of the 6/6 Stewart Platform",
abstract = "This paper introduces the three-dimensional (3D) dual Kennedy theorem in statics, and demonstrates its application to characterize the singular configuration of the 6/6 Stewart Platform (6/6 SP). The proposed characterization is articulated as a simple geometric relation that is easy to apply and check. We find two lines that cross four of the six legs of the platform. Each one of these two lines has a parallel line that crosses the remaining two legs. Each pair of parallel lines defines a plane. The 6/6 SP is in a singular position if the intersection of these two planes is perpendicular to the common normal of the remaining two legs. The method developed for the singular characterization is also used for the analysis of the mobility and forces of the SP. Finally, the proposed method is compared to some known singular configurations, such as Hunt's and Fichter's singular configurations and the 3/6 Stewart Platform (3/6 SP) singularity. The relation between the reported characterizations of the 6/6 SP and other reported works is highlighted. Moreover, it is shown that the known 3/6 SP characterization is a special case of the results reported in the paper. Finally, a characterization of a platform that does not appear in the literature, 5/6 SP, is developed based on the new approach to demonstrate its utility.",
keywords = "Kinematic geometry, Mechanism synthesis, Parallel platforms, Theoretical kinematics",
author = "Michael Slavutin and Avshalom Sheffer and Offer Shai and Yoram Reich",
note = "Publisher Copyright: {\textcopyright} 2018 by ASME.",
year = "2018",
month = aug,
day = "1",
doi = "10.1115/1.4040133",
language = "אנגלית",
volume = "10",
journal = "Journal of Mechanisms and Robotics",
issn = "1942-4302",
publisher = "The American Society of Mechanical Engineers(ASME)",
number = "4",
}