Configuration Bifurcations Analysis of Six Degree-of-Freedom Symmetrical Stewart Parallel Mechanisms

[+] Author and Article Information
Yu-Xin Wang

College of Mechanical Engineering, Tongji University, Siping Road 1239, Shanghai 200092, P.R. China

Yi-Ming Wang

Beijing Graphics and Communication Institute, Beijing 100037, P.R. China

J. Mech. Des 127(1), 70-77 (Mar 02, 2005) (8 pages) doi:10.1115/1.1814651 History: Received March 26, 2003; Revised April 20, 2004; Online March 02, 2005
Copyright © 2005 by ASME
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Grahic Jump Location
A symmetrical Stewart parallel manipulator
Grahic Jump Location
Configuration bifurcation graph of symmetrical Stewart parallel manipulators (li=1.5,l=2,3,[[ellipsis]]6)
Grahic Jump Location
Configuration bifurcation characteristic of a symmetrical Stewart parallel manipulator
Grahic Jump Location
Bifurcation curves expressed by components of the position and orientation



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