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dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorThomas, Federico
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationBorras, J.; Thomas, F. Kinematics of line-plane subassemblies in Stewart platforms. A: IEEE International conference on Robotics and Automation. "2009 IEEE International Conference on Robotics and Automation". Kobe: IEEE, 2009, p. 4094-4099.
dc.description.abstractWhen the attachments of five legs in a Stewart platform are collinear on one side and coplanar on the other, the platform is said to contain a line-plane subassembly. This paper is devoted to the kinematics analysis of this subassembly paying particular attention to the problem of moving the aforementioned attachments without altering the singularity locus of the platform. It is shown how this is always possible provided that some cross-ratios between lines -defined by points in the plane- are kept equal to other cross-ratios between points in the line. This result leads to two simple motion rules upon which complex changes in the location of the attachments can be performed. These rules have interesting practical consequences as they permit a designer to optimize aspects of a parallel robot containing the analyzed subassembly, such as its manipulability in a given region, without altering its singularity locus.
dc.format.extent6 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Kinematics
dc.titleKinematics of line-plane subassemblies in Stewart platforms
dc.typeConference report
dc.subject.lemacRobots -- Control automàtic
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
local.citation.authorBorras, J.; Thomas, F.
local.citation.contributorIEEE International conference on Robotics and Automation
local.citation.publicationName2009 IEEE International Conference on Robotics and Automation

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