Singularity property and singularity-free path planning of the Gough–Stewart parallel mechanism

Singularity affects the performance of the parallel mechanisms seriously and so should be avoided as the mechanisms work. It is necessary to obtain the distribution of the singularity locus in the task space of a parallel mechanism and then further explore singularity avoidance. This article mainly deals with the singularity-free path planning of the widely used Gough–Stewart parallel mechanism. After obtaining the characteristics of the position-singularity locus for a constant orientation and the orientation-singularity locus for a given position, the position-singularity path planning and orientation-singularity path planning are explored, respectively. For the position-singularity path planning, after obtaining the position-singularity locus equation and analyzing the geometric property of the position-singularity curve in a moving plane, a general method for identifying the probability of existence of a singularity-free path connecting two given points in the moving plane is illustrated, and then the...