Browsing by Author "Ceccarelli, Marco"
Borràs Sol, Júlia; Thomas, Federico; Ottaviano, Erika; Ceccarelli, Marco (2009)
Open AccessThis 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 ...
Borràs Sol, Júlia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico (Asociación Española de Ingeniería Mecánica, 2008)
Open AccessA 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 ...