This paper builds on Innocenti's polynomial solution for the 5-SS platform that generates a one-degree of freedom movement through seven specified spatial positions of a rigid body. We show that his 60×60 resultant can be reduced to one that is 10×10. We then actuate the linkage using a prismatic joint on the sixth leg and determine the trajectory of the reference point through the specified positions. The singularity submanifold of this associated 6-SS platform provides information about the movement characteristics of the 5-SS linkage.
展开▼
