Now showing items 1-20 of 28

    • A distance-based formulation of the octahedral manipulator kinematics 

      Rojas Libreros, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (2010)
      Conference report
      Open Access
      In most practical implementations of the Gough-Stewart platform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particular instance of the Gough-Stewart platform, commonly known ...
    • A family of quadratically-solvable 5-SPU parallel robots 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2010)
      Conference report
      Open Access
      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 ...
    • A Grasping-centered analysis for cloth manipulation 

      Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-06-01)
      Article
      Open Access
      Compliant and soft hands have gained a lot of atten- tion in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping ...
    • A reconfigurable 5-DoF 5-SPU parallel platform 

      Borràs Sol, Júlia; Thomas, Federico; Ottaviano, Erika; Ceccarelli, Marco (2009)
      Conference report
      Open Access
      This paper presents a 5-SPU 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 ...
    • A Versatile Gripper for Cloth Manipulation 

      Donaire Cónsul, Sònia; Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-10)
      Article
      Restricted access - publisher's policy
      Cloth manipulation has been mostly advancing in perception and modeling methods for cloth state estimation and grasping point detection. In comparison, less attention has been put on end-effector design. Indeed, most ...
    • Analysing the singularities of 6-SPS parallel robots using virtual legs 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (LIRMM, 2008)
      Conference report
      Open Access
      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. ...
    • Architectural singularities of a class of pentapods 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011)
      Article
      Open Access
      A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel 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 Access
      Flagged manipulators are of interest because they are the only Stewart-Gough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ...
    • Benchmarking bimanual cloth manipulation 

      Garcia Camacho, Irene; Lippi, Martina; Welle, Michael C.; Yin, Hang; Antonova, Rika; Varava, Anastasiia; Borràs Sol, Júlia; Torras, Carme; Marino, Alessandro; Alenyà Ribas, Guillem; Kragic, Danica (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Article
      Open Access
      Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this paper, we provide three benchmarks for evaluation and comparison ...
    • Direct position analysis of a large family of spherical and planar parallel manipulators with four loops 

      Borràs Sol, Júlia; Di Gregorio, Raffaele (2008)
      Conference report
      Open Access
      The 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 ...
    • 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 Access
      The 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 ...
    • 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, 2013-02-08)
      Conference report / Conference lecture
      Restricted access - author's decision
      El 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 ...
    • Interaction identification through tactile sensing during cloth manipulation using a 3-axis touch sensor 

      Geer Couste, Idril-tadzio; Maceira Duch, Marc; Borràs Sol, Júlia; Torras, Carme; Alenyà Ribas, Guillem (2020)
      Conference report
      Open Access
      Tactile feedback during cloth manipulation could be crucial in addressing the huge challenges involved in closing the loop during execution, complementing vision. However, up to our knowledge, tactile sensing has only been ...
    • Kinematics of line-plane subassemblies in Stewart platforms 

      Borràs Sol, Júlia; Thomas, Federico (IEEE, 2009-05-31)
      Conference report
      Open Access
      When 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 line-plane subassembly. This paper is devoted to the kinematics analysis of ...
    • 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
      Open Access
      In 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)
      Conference report
      Open Access
      In 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)
      Conference report
      Open Access
      This 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
      Open Access
      The 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 Access
      Anyset 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)
      Conference report
      Open Access
      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 ...