On the stability conditions for a class of parallel manipulators

M. M. Svinin, K. Ueda, M. Uchiyama

    Research output: Contribution to journalArticlepeer-review

    9 Citations (Scopus)


    This paper deals with the stability of a class of planar parallel mechanisms, called unifunctional manipulators. For this problem the stiffness matrix of the mechanisms is derived, and its basic properties are analyzed. Necessary and sufficient conditions for the stability are established in an analytical form by transforming the stiffness matrix to the center of stiffness. Next, at the level of force planning, the problem of stable force distribution is formulated. It is shown that an unstable force distribution can be stabilized by a simple control law if the mechanism is not in a singular configuration. Finally, conditions of the feedback stabilizability in singular configurations are established and illustrated on simple examples.

    Original languageEnglish
    Pages (from-to)2386-2391
    Number of pages6
    JournalProceedings-IEEE International Conference on Robotics and Automation
    Publication statusPublished - 2000 Apr

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering


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