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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorThomas, Federico
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2011-02-04T16:40:28Z
dc.date.available2011-02-04T16:40:28Z
dc.date.created2010
dc.date.issued2010
dc.identifier.citationBorras, J.; Thomas, F. Singularity-invariant leg substitutions in pentapods. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2010 IEEE/RSJ International Conference on Intelligent Robots and Systems". Taipei: 2010, p. 2766-2771.
dc.identifier.urihttp://hdl.handle.net/2117/11283
dc.description.abstractA pentapod is usually defined as a 5-degree-offreedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, inclination angles of up to 90 degrees are possible thus overcoming the orientation limits of the classical Stewart platform. This paper presents a solution to the problem of finding those changes in the location of the leg attachments of a pentapod that leave its singularity locus invariant. Although the solution to this problem does not provide a fully characterization of the singularities, it provides a lot of insight into its nature. It is shown, for example, that there are four different architectures for a pentapod with a completely different behavior from the point of view of their singularities. The kinematics of pentaponds with coplanar attachments at the fixed base has previously been studied as rigid subassemblies of a Stewart platforms. In this paper, we treat the general case in which the base attachments are arbitrarily located in 3D space.
dc.format.extent6 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Dynamics
dc.subject.othermanipulators robot kinematics PARAULES AUTOR: pentapod
dc.subject.otherfully-parallel robots
dc.subject.othersingularities
dc.subject.othersingularity-invariant transformations
dc.titleSingularity-invariant leg substitutions in pentapods
dc.typeConference report
dc.subject.lemacRobots -- Dinàmica
dc.identifier.doi10.1109/IROS.2010.5652202
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.relation.publisherversionhttp://dx.doi.org/10.1109/IROS.2010.5652202
dc.rights.accessOpen Access
local.identifier.drac4468746
dc.description.versionPostprint (published version)
local.citation.authorBorras, J.; Thomas, F.
local.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.pubplaceTaipei
local.citation.publicationName2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
local.citation.startingPage2766
local.citation.endingPage2771


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Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain