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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorThomas, Federico
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.identifier.citationBorras, J.; Thomas, F.; Torras, C. A family of quadratically-solvable 5-SPU parallel robots. A: IEEE International Conference on Robotics and Automation. "2010 IEEE International Conference on Robotics and Automation". Anchorage: 2010, p. 4703-4708.
dc.description.abstractA 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 having also coplanar spherical joints has previously been studied as a rigid subassembly of a Stewart-Gough platform, it being denoted a line-plane component. It was shown that this component has 8 assembly modes corresponding to the roots of a bi-quartic polynomial. Here we identify a whole family of these 5-SPU robots having only 4 assembly modes, which are obtained by solving two quadratic equations. This family is defined by a simple proportionality constraint relating the coordinates of the base and platform attachments. A geometric interpretation of the architectural singularities of this type of robots in terms of conics is provided, which facilitates their avoidance at the design stage. Parallel singularities obey also a neat geometric structure, which permits deriving a cell decomposition of configuration space. Two practical features of these quadratically-solvable robots are the large maneuverability within each connected component and the fact that, for a fixed orientation of the tool, the singularity locus reduces to a plane. Index Terms—Parallel manipulators, Stewart-Gough platforms, robot kinematics, kinematics singularities.
dc.format.extent6 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Kinematics
dc.subject.otherrobot kinematics PARAULES AUTOR: parallel manipulators
dc.subject.otherStewart-Gough platforms
dc.subject.otherrobot kinematics
dc.subject.otherkinematics singularities
dc.titleA family of quadratically-solvable 5-SPU parallel robots
dc.typeConference report
dc.subject.lemacRobots -- Cinemàtica
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
upcommons.citation.authorBorras, J.; Thomas, F.; Torras, C.
upcommons.citation.contributorIEEE International Conference on Robotics and Automation
upcommons.citation.publicationName2010 IEEE International Conference on Robotics and Automation

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