• Singularity-invariant families of line-plane 5-SPU platforms 

      Borràs Sol, Júlia; Thomas, Federico; Torras, Carme (2011-10)
      Article
      Accés obert
      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 ...