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This paper presents a study of the characterization of the singular manifoldof the six-degree-of-freedom parallel manipulator commonly known as the Stewartplatform. We consider a platform with base vertices in a circle and for whichthe bottom and top plates are related by a rotation and a contraction. It isshown that in this case the platform is always in a singular configuration andthat the singular manifold can be parameterized by a scalar parameter.

Characterization and parameterization of the singular manifold of a simple 6-6 Stewart platform