2001•Jounal of Xidian UniversityRequires access
Research on the kinematic singularity and the force singularity of the Stewart platform
Yuan Qiu
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Abstract
When the Stewart platform moves, the kinematic singularity and the force singularity may accur. By analyzing the Jacobian matrix of the kinematic equation and the Jacobina matrix of the force equation, this paper shows the relationship between the elements, the determinants, and the condition numbers of the two Jacobian matrixes. Meanwhile the two kinds of singularity manifolds are also compared. The analysis and an example indicate that the kinematic singularity and the force singularity occur simultaneously.