Typical Extreme Posture Analysis of Symmetrical Stewart Platform

Abstract

The Jacobian condition number of parallel manipulator will increase obviously when closing with singular point. In this paper, it can be found that, for the parallel manipulator without singular point in the whole workspace, the condition number is largest on the state of extreme posture. Based on 16 kinds of typical extreme postures, the singularity of symmetrical Stewart platform was analyzed, the bifurcation behavior of singular point was described by configuration curves. And from this paper, it can be found that the Stewart platform is very prone to Hunt singularity.