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Article Dans Une Revue Mechanism and Machine Theory Année : 2015

On the rationality of the singularity locus of a Gough-Stewart platform - biplanar case

Résumé

We propose to study the singularity locus of a Gough-Stewart platform as a surface defined over the field of rational functions on the the group of rotations. From the geometric properties of this surface we deduce, in the generic biplanar case, a rational parametrization and a family of parallel planes cutting the surface in the conics of a linear pencil, which are uniform for all generic orientations.
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Dates et versions

hal-01017916 , version 1 (03-07-2014)

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Michel Coste, Seydou Moussa. On the rationality of the singularity locus of a Gough-Stewart platform - biplanar case. Mechanism and Machine Theory, 2015, 87, pp.82-92. ⟨10.1016/j.mechmachtheory.2014.12.015⟩. ⟨hal-01017916⟩
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