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A family of quadratically-solvable 5-SPU parallel robots
dc.contributor.author | Borràs Sol, Júlia |
dc.contributor.author | Thomas, Federico |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2011-03-25T17:13:46Z |
dc.date.available | 2011-03-25T17:13:46Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | Borras, J.; Thomas, F.; Torras, C. A family of quadratically-solvable 5-SPU parallel robots. A: IEEE International Conference on Robotics and Automation. "2010 IEEE International Conference on Robotics and Automation". Anchorage: 2010, p. 4703-4708. |
dc.identifier.uri | http://hdl.handle.net/2117/12089 |
dc.description.abstract | 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. It was shown that this component has 8 assembly modes corresponding to the roots of a bi-quartic polynomial. Here we identify a whole family of these 5-SPU robots having only 4 assembly modes, which are obtained by solving two quadratic equations. This family is defined by a simple proportionality constraint relating the coordinates of the base and platform attachments. A geometric interpretation of the architectural singularities of this type of robots in terms of conics is provided, which facilitates their avoidance at the design stage. Parallel singularities obey also a neat geometric structure, which permits deriving a cell decomposition of configuration space. Two practical features of these quadratically-solvable robots are the large maneuverability within each connected component and the fact that, for a fixed orientation of the tool, the singularity locus reduces to a plane. Index Terms—Parallel manipulators, Stewart-Gough platforms, robot kinematics, kinematics singularities. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Kinematics |
dc.subject.other | robot kinematics PARAULES AUTOR: parallel manipulators |
dc.subject.other | Stewart-Gough platforms |
dc.subject.other | robot kinematics |
dc.subject.other | kinematics singularities |
dc.title | A family of quadratically-solvable 5-SPU parallel robots |
dc.type | Conference report |
dc.subject.lemac | Robots -- Cinemàtica |
dc.identifier.doi | 10.1109/ROBOT.2010.5509965 |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.relation.publisherversion | http://dx.doi.org/10.1109/ROBOT.2010.5509965 |
dc.rights.access | Open Access |
local.identifier.drac | 4468861 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Borras, J.; Thomas, F.; Torras, C. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.pubplace | Anchorage |
local.citation.publicationName | 2010 IEEE International Conference on Robotics and Automation |
local.citation.startingPage | 4703 |
local.citation.endingPage | 4708 |