A novel method to avoid turning point singularities for the semi-regular hexagons Gough-Stewart parallel manipulator

This paper presents a novel disturbance function method to avoid turning point singularities for the semi-regular hexagons 6-SPS Gough-Stewart manipulator. Through analysis of the configuration bifurcation characteristics of the manipulator at the type-II singular points, it is found that the type-II singularities under signal input parameter belong to turning point bifurcation. The configuration patterns for the manipulator to pass through the turning points are divided into three types: persistent, non-persistent and path configuration. Utilizing the universal unfolding approach, the configuration bifurcation characteristics under the perturbation parameters applied to the extendable legs are analyzed. The investigation reveals that all configuration branches converged in the same singular point in the unperturbed system will be separated in the disturbed system. Based on this discovery, a novel method for the parallel manipulator to pass through the singular points with the desired configuration is presented. Then the disturbance functions for the manipulator to pass through the turning points with the persistent configuration and the non-persistent configuration are constructed. The method presented in this paper can be applied to avoiding the singularities in such cases where the path and orientation of the manipulator are strictly programmed.