Effect of Singularity on Motion Accuracy of Stewart Parallel Robot
Taking 9-3 Stewart parallel robot as the research object,analyzes the motion accuracy of moving platform when mechanism is close to singular configuration.The determinant of velocity Jacobian matrix of the parallel robot is calculated to abtain the coordinates of singular points.The virtual prototype experiment is conducted to gain the relative error of the inverse solution and positive solution of the reference point of the moving platform.The reciprocal of the condition number of the rotating Jacobian matrix is used to measure the degree of the mechanism approaching singularity,and the mapping relationship between this degree and the above relative error is analyzed.The results show that when the index value is greater than 7.027x10-5,the relative error of the positive and negative solutions can be ignored,which provides a theoretical reference for the follow-up work such as singularity avoidance and path planning.
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