Abstract:
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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. |