Now showing items 1-2 of 2

  • 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 ...
  • 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 ...