Notice of RetractionA new method for the property identification of the position-singularity loci of the Stewart parallel manipulator

Notice of Retraction

After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.

We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.

The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.

This paper proposed a new method, i.e., Z-plane, for the property identification of the position-singularity loci of the 6/6-SPS Stewart manipulators. After constructing the Jacobian matrix of the 6/6-SPS Stewart manipulator, a cubic polynomial expression in the mobile platform position parameters, which represents the constant-orientation position-singularity locus of the manipulator, is derived. Graphical representations of the position-singularity locus of the parallel manipulator for different orientations are illustrated with examples to demonstrate the theoretical results. In order to analyze the property of position-singularity loci of the 6/6-SPS Stewart manipulator in three-dimensional space, a novel method called Z-plane is proposed. Based on the above-mentioned analytical expression, a quadratic expression that represents the position-singularity locus of the manipulator in Z-plane is derived, and further the property of position-singularity loci of the manipulator in parallel Z-planes is identified in detailed. It is shown that position-singularity loci of 6/6-SPS Stewart manipulators in parallel Z-planes are all quadratic expressions including infinite hyperbolas, four pairs of intersecting lines and a parabola.