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dc.contributor.authorAlberich Carramiñana, Maria
dc.contributor.authorThomas, Federico
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtica Aplicada I
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2009-03-13T09:27:47Z
dc.date.available2009-03-13T09:27:47Z
dc.date.created2007
dc.date.issued2007
dc.identifier.citationAlberich-Carramiñana, Maria; Thomas, Federico; Torras, Carme. "Flagged parallel manipulators". IEEE transactions on robotics, 2007, vol. 23, núm. 5, p. 1013-1023.
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/2117/2723
dc.description.abstractThe conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform. These dependencies permit to describe the manipulator singularities in terms of incidences between two flags (hence, the name ldquoflaggedrdquo). Although these linear dependencies might look, at first glance, too restrictive, in this paper, the family of flagged manipulators is shown to contain large subfamilies of six-legged and three-legged manipulators. The main interest of flagged parallel manipulators is that their singularity loci admit a well-behaved decomposition with a unique topology irrespective of the metrics of each particular design. In this paper, this topology is formally derived and all the cells, in the configuration space of the platform, of dimension 6 (nonsingular) and dimension 5 (singular), together with their adjacencies, are worked out in detail.
dc.format.extentp. 1013 - 1023
dc.language.isoeng
dc.publisherIEEE
dc.relation.ispartofIEEE transactions on robotics
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots
dc.subject.lcshRobotics
dc.subject.otherparallel robots
dc.subject.othermanipulator singularities
dc.titleFlagged parallel manipulators
dc.typeArticle
dc.subject.lemacRobots
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. EGSA - Equacions Diferencials, Geometria, Sistemes Dinàmics i de Control, i Aplicacions
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TRO.2007.903819
dc.rights.accessOpen Access
dc.relation.projectidcttJ-00930


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