Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Architectural singularities of a class of pentapods

Autor
Borras, J.; Thomas, F.; Torras, C.
Tipus d'activitat
Article en revista
Revista
Mechanism and machine theory
Data de publicació
2011
Volum
46
Número
8
Pàgina inicial
1107
Pàgina final
1120
DOI
https://doi.org/10.1016/j.mechmachtheory.2011.03.005 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/14439 Obrir en finestra nova
URL
http://dx.doi.org/10.1016/j.mechmachtheory.2011.03.005 Obrir en finestra nova
Resum
A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, high inclination angles could be attained, thus overcoming the orientation limits of the classical Stewart-Gough platform. This paper deals with pentapods with coplanar base attachments. In previous wor...
Citació
Borras, J.; Thomas, F.; Torras, Carme. Architectural singularities of a class of pentapods. "Mechanism and machine theory", 2011, vol. 46, núm. 8, p. 1107-1120.
Paraules clau
architectural singularities, manipulator design, manipulators robot kinematics PARAULES AUTOR: parallel manipulators, robot kinematics, singularities
Grup de recerca
KRD - Cinemàtica i Disseny de Robots
ROBiri - Grup de Robòtica de l'IRI

Participants