• A wire-based active tracker 

      Andrade-Cetto, Juan; Thomas, Federico (IEEE, 2008)
      Article
      Accés obert
      Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the ...
    • 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 obert
      A 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 ...
    • Partially flagged parallel manipulators: singularity charting and avoidance 

      Alberich Carramiñana, Maria; Garolera, M; Thomas, Federico; Torras, Carme (2009-08)
      Article
      Accés obert
      There are only three 6-SPS parallelmanipulatorswith triangular base and platform, i.e., the octahedral, the flagged, and the partially flagged, which are studied in this paper. The forward kinematics of the octahedralmanipulator ...
    • Singularity-invariant families of line-plane 5-SPU platforms 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011-10)
      Article
      Accés obert
      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 ...