Exploració per autor "Borràs Sol, Júlia"
Ara es mostren els items 23-37 de 37
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New geometric approaches to the analysis and design of Stewart-Gough platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2014)
Article
Accés obertIn 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 ... -
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)
Text en actes de congrés
Accés obertIn 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 quartically-solvable robots
Rojas Librero, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés obertThis paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts ... -
On the primal and dual forms of the Stewart platform pure condition
Borràs Sol, Júlia; Thomas, Federico (2012)
Article
Accés obertThe 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
Accés obertAnyset 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 6-DOF 4-4 parallel manipulator with uncoupled singularities
Borràs Sol, Júlia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico (Asociación Española de Ingeniería Mecánica, 2008)
Text en actes de congrés
Accés obertA 6-DOF 4-4 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
Accés restringit per política de l'editorialThe direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ... -
Singularity-invariant families of line-plane 5-SPU platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011-10)
Article
Accés obertA 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 ... -
Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
Text en actes de congrés
Accés obertIn 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 ... -
Singularity-invariant leg rearrangements in Stewart-Gough platforms
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Springer Verlag, 2010)
Text en actes de congrés
Accés obert -
Singularity-invariant leg substitutions in pentapods
Borràs Sol, Júlia; Thomas, Federico (2010)
Text en actes de congrés
Accés obertA pentapod is usually defined as a 5-degree-offreedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling ... -
Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments
Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (Springer Verlag, 2009)
Text en actes de congrés
Accés obertAn algorithm to derive the pure condition of any double-planar Stewart-Gough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets directly to the superbracket ... -
Task-adaptive robot learning from demonstration with gaussian process models under replication
Arduengo García, Miguel; Colomé Figueras, Adrià; Borràs Sol, Júlia; Sentís Álvarez, Luis; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2021)
Article
Accés obertLearning from Demonstration (LfD) is a paradigm that allows robots to learn complex manipulation tasks that can not be easily scripted, but can be demonstrated by a human teacher. One of the challenges of LfD is to enable ... -
The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm
Borràs Sol, Júlia; Heudorfer, Raphael; Rader, Samuel; Asfour, Tamim (Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertThis work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without ... -
The octahedral manipulator revisited
Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (IEEE, 2012)
Text en actes de congrés
Accés obertIn most practical implementations of the Gough- Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particula r instance of the Gough-Stewart platform, commonly ...