Show simple item record

dc.contributor.authorBorràs Sol, Júlia
dc.contributor.authorThomas, Federico
dc.contributor.authorOttaviano, Erika
dc.contributor.authorCeccarelli, Marco
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.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.
dc.description.abstractThis 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.
dc.format.extent7 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics -- Design and construction
dc.titleA reconfigurable 5-DoF 5-SPU parallel platform
dc.typeConference report
dc.subject.lemacRobots -- Disseny i construcció
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
local.citation.authorBorras, J.; Thomas, F.; Ottaviano, E.; Ceccarelli, M.
local.citation.contributorASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots
local.citation.publicationNameASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots 2009

Files in this item


This item appears in the following Collection(s)

Show simple item record

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