The determination of the 6-D singularity locus of the general Gough-Stewart platform is discussed in this article. The derivation of the velocity equation and the corresponding Jacobian matrices is first presented. Then a new procedure is introduced to obtain the analytical expression of the singularity locus, which is a function of six variables (x, y, z, φ, θ, ψ), using the velocity equation. Examples are also given to illustrate the results obtained. Gough-Stewart platforms can be used in several robotic applications as well as in flight simulators. The determination of the singularity locus is a very important design and application issue.
Li H, Gosselin CM, Richard MJ, Mayer-St-Onge B. Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform. ASME. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B ():367-376. doi:10.1115/DETC2004-57135.