Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities
Document typeConference report
PublisherAsociación Española de Ingeniería Mecánica
Rights accessOpen Access
A 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 three tetrahedra. Moreover, it is shown how the proposed manipulator belongs to the family of ﬂagged parallel manipulators. This identification is useful because the topology of the singularity locus of ﬂagged manipulators has been fully characterized and, what is more important, the singularities of ﬂagged manipulators correspond to uncoupled translations and/or rotations in the workspace of the manipulator. An optimization of its workspace is carried out using Sequential Quadratic Programming and a virtual prototype of the optimal result has been implemented in SolidWorks.
CitationBorràs Sol, Júlia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico. "Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities". A: XVII Congreso Nacional de Ingeniería Mecánica (CNIM), Gijón, Espanya, 2008. Asociación Española de Ingeniería Mecánica, 2008, p. 1047-1052 (Anales de Ingeniería Mecánica).