Browsing by Author "Borràs Sol, Júlia"

A distancebased formulation of the octahedral manipulator kinematics
Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (2010)
Conference report
Open AccessIn most practical implementations of the GoughStewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular instance of the GoughStewart platform, commonly known ... 
A family of quadraticallysolvable 5SPU parallel robots
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
Conference report
Open AccessA 5SPU 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 ... 
A reconfigurable 5DoF 5SPU parallel platform
Borràs Sol, Júlia; Thomas, Federico; Ottaviano, Erika; Ceccarelli, Marco (2009)
Conference report
Open AccessThis paper presents a 5SPU platform whose base leg attachments can be easily reconfigured, statically or dynamically, without altering its singularity locus. This permits to adapt the platform’s geometry to particular ... 
Analysing the singularities of 6SPS parallel robots using virtual legs
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (LIRMM, 2008)
Conference report
Open AccessA virtual leg in a 6SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. ... 
Architectural singularities of a class of pentapods
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011)
Article
Open AccessA pentapod is usually defined as a 5degreesoffreedom fullyparallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling ... 
Architecture singularities in flagged parallel manipulators
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (IEEE, 2008)
Conference report
Open AccessFlagged manipulators are of interest because they are the only StewartGough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ... 
Direct position analysis of a large family of spherical and planar parallel manipulators with four loops
Borràs Sol, Júlia; Gregorio, Raffaele di (LIRMM, 2008)
Conference report
Open AccessThe direct position analysis (DPA) of a manipulator is the computation of the endeffector poses (positions and orientations) compatible with assigned values of the actuatedjoint variables. Assigning the actuatedjoint ... 
Experiència pràctica de comunicació de Matemàtiques a la ciutadania i a secundària – 2a fase
Alberich Carramiñana, Maria; Barja Yáñez, Miguel Ángel; Borràs Sol, Júlia; Plans Berenguer, Bernat; Quer Bosor, Jordi; Thomas, Federico; Torras, Carme; Xambó Descamps, Sebastián (Universitat Politècnica de Catalunya. Institut de Ciències de l'Educació, 20130208)
Conference report / Conference lecture
Restricted access  author's decisionEl projecte implementa experiències pràctiques dels estudis universitaris de matemàtiques (grau, llicenciatura i màsters) en l'àmbit de la docència i la divulgació científica. La finalitat divulgativa pretén fomentar ... 
Kinematics of lineplane subassemblies in Stewart platforms
Borràs Sol, Júlia; Thomas, Federico (IEEE, 20090531)
Conference report
Open AccessWhen the attachments of five legs in a Stewart platform are collinear on one side and coplanar on the other, the platform is said to contain a lineplane subassembly. This paper is devoted to the kinematics analysis of ... 
New geometric approaches to the analysis and design of StewartGough platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
Article
Open AccessIn general, rearranging the legs of a StewartGough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements ... 
New geometric approaches to the singularity analysis of parallel platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
Conference report
Open AccessIn general, rearranging the legs of a Stewart Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements ... 
On the primal and dual forms of the Stewart platform pure condition
Borràs Sol, Júlia; Thomas, Federico (2012)
Article
Open AccessThe algebraic characterization of the singularities of a Stewart platform is usually presented as a 6 × 6 determinant, whose rows correspond to the line coordinates of its legs, equated to zero. This expression can be ... 
On ¿transforms
Thomas, Federico; Torras, Carme; Borràs Sol, Júlia (2009)
Article
Open AccessAnyset of two legs in a Gough–Stewart platform sharing an attachment is defined as a Δcomponent. This component links a point in the platform (base) to a line in the base (platform). Thus, if the two legs, which are involved ... 
Optimal design of a 6DOF 44 parallel manipulator with uncoupled singularities
Borràs Sol, Júlia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico (Asociación Española de Ingeniería Mecánica, 2008)
Conference report
Open AccessA 6DOF 44 parallel manipulator is presented. Its forward kinematics can be solved by a sequence of three trilaterations and, as a consequence, its singularities can be described in geometric terms as the degeneration of ... 
Polynomial solution to the position analysis of two Assur kinematic chains with four loops and the same topology
Borràs Sol, Júlia; Gregorio, Raffaele di (ASME PRESS, 2009)
Article
Restricted access  publisher's policyThe direct position analysis (DPA) of a manipulator is the computation of the endeffector poses (positions and orientations) compatible with assigned values of the actuatedjoint variables. Assigning the actuatedjoint ... 
Singularityinvariant families of lineplane 5SPU platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (201110)
Article
Open AccessA 5SPU 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 ... 
Singularityinvariant leg rearrangements in doublyplanar StewartGough platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
Conference report
Open AccessIn general, rearranging the legs of a StewartGough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements ... 
Singularityinvariant leg rearrangements in StewartGough platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Springer Verlag, 2010)
Conference report
Open Access 
Singularityinvariant leg substitutions in pentapods
Borràs Sol, Júlia; Thomas, Federico (2010)
Conference report
Open AccessA pentapod is usually defined as a 5degreeoffreedom fullyparallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling ... 
Straighteningfree algorithm for the singularity analysis of StewartGough platforms with collinear/coplanar attachments
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Springer Verlag, 2009)
Conference report
Open AccessAn algorithm to derive the pure condition of any doubleplanar StewartGough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets directly to the superbracket ...