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Singularity-invariant families of line-plane 5-SPU platforms

Autor
Borras, J.; Thomas, F.; Torras, C.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2011-10
Volum
27
Número
5
Pàgina inicial
837
Pàgina final
848
DOI
https://doi.org/10.1109/TRO.2011.2158018 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/14455 Obrir en finestra nova
Resum
A 5-SPU robot with collinear universal joints is well suited to handling an axisymmetric tool, since it has 5 controllable DoFs and the remaining one is a free rotation around the tool. The kinematics of such a robot having also coplanar spherical joints has previously been studied as a rigid subassembly of a Stewart- Gough platform, it being denoted a line-plane component. Here we investigate how to move the leg attachments in the base and the platform without altering the robot’s singularity...
Citació
Borras, J.; Thomas, F.; Torras, Carme. Singularity-invariant families of line-plane 5-SPU platforms. "IEEE transactions on robotics", Octubre 2011, vol. 27, núm. 5, p. 837-848.
Paraules clau
Gough-Stewart platforms, kinematics singularities, manipulator design, parallel manipulators, robot kinematics
Grup de recerca
KRD - Cinemàtica i Disseny de Robots
ROBiri - Grup de Robòtica de l'IRI

Participants