• Partially flagged parallel manipulators: singularity charting and avoidance 

    Alberich Carramiñana, Maria; Garolera, M; Thomas, Federico; Torras, Carme (2009-08)
    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 ...