A virtual leg in a 6-SPS 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. In this paper, we consider four different rigid subassemblies, and show how the singularities of a robot containing one or several of these subassemblies are modified when substituting its actual legs by virtual legs.
CitationBorràs Sol, Júlia; Thomas, Federico; Torras, Carme. "Analysing the singularities of 6-SPS parallel robots using virtual legs". A: Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (Parallel), Montpeller, França, 2008. LIRMM, 2008, p. 145-150.
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder. If you wish to make any use of the work not provided for in the law, please contact: email@example.com