Publication at Faculty of Mathematics and Physics |
2008
Abstract
We present the complete list of all non-planar architecturally singular parallel manipulators (Stewart-Gough type manipulators). Any such parallel manipulator has four collinear points in the platform or in the base. We see that all of them must satisfy certain assembly conditions.
All have self-motions at every possible configuration. We can add infinitely many legs without disturbing geometrical properties and self-motions, for planar platform and base it is not true. They are invariant with respect to projective transformations in both fixed and moving spaces.