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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorOttaviano, Erika
dc.contributor.authorCeccarelli, Marco
dc.contributor.authorThomas, Federico
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.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).
dc.description.abstractA 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.
dc.format.extentp. 1047 - 1052
dc.publisherAsociación Española de Ingeniería Mecánica
dc.relation.ispartofCongreso Nacional de Ingeniería Mecánica (CNIM)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Kinematics
dc.subject.otherparallel manipulators
dc.subject.otherrobot kinematics
dc.subject.othermanipulator design
dc.subject.otherkinematics singularities.
dc.titleOptimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities
dc.typeConference report
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.rights.accessOpen Access

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