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A reconfigurable 5-DoF 5-SPU parallel platform

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Borràs Sol, JúliaMés informació
Thomas, FedericoMés informacióMés informacióMés informació
Ottaviano, Erika
Ceccarelli, Marco
Document typeConference report
Defense date2009
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
Abstract
This paper presents a 5-SPU platform whose base leg attachments can be easily reconfigured, statically or dynamically, without altering its singularity locus. This permits to adapt the platform’s geometry to particular tasks without increasing the complexity of its control. The allowed reconfigurations permit to reduce the risk of collisions between legs, or even improving the stiffness of the platform, in a given region of its configuration space. It is also shown that no architectural singularities are introduced by the proposed reconfigurations.
CitationBorras, J. [et al.]. A reconfigurable 5-DoF 5-SPU parallel platform. A: ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. "ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots 2009". Londres: 2009, p. 617-623. 
URIhttp://hdl.handle.net/2117/6436
ISBN1-876346-58-2
Publisher versionhttp://ieeexplore.ieee.org/xpls/abs_all.jsp?isnumber=5173784&arnumber=5173892&count=113&index=95
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