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On redundant flagged manipulators

Autor
Alberich, M.; Thomas, F.; Torras, C.
Tipus d'activitat
Article en revista
Revista
IEEE International conference on robotics and automation
Data de publicació
2006-01
Pàgina inicial
783
Pàgina final
789
DOI
https://doi.org/10.1109/ROBOT.2006.1641805 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/document/1641805/ Obrir en finestra nova
Resum
Flagged in-parallel manipulators are attractive because their singularity loci admit a well-behaved decomposition, with a unique topology irrespective of the metrics of each particular design. In this paper, this topology is formally derived and all the cells, in the configuration space of the platform, of dimension 6 (non-singular) and dimension 5 (singular), together with their adjacencies, are worked out in detail. This characterization of the singularity loci is useful to come up with design...
Grup de recerca
GEOMVAP - Geometria de Varietats i Aplicacions
KRD - Cinemàtica i Disseny de Robots
ROBiri - Grup de Robòtica de l'IRI

Participants