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Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities
Borràs Sol, Júlia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico
Institut de Robòtica i Informàtica Industrial
A 6-DOF 4-4 parallel manipulator is presented. Its forward kinematics can be solved by a sequence of three trilaterations and, as a consequence, its singularities can be described in geometric terms as the degeneration of three tetrahedra. Moreover, it is shown how the proposed manipulator belongs to the family of flagged parallel manipulators. This identification is useful because the topology of the singularity locus of flagged manipulators has been fully characterized and, what is more important, the singularities of flagged manipulators correspond to uncoupled translations and/or rotations in the workspace of the manipulator. An optimization of its workspace is carried out using Sequential Quadratic Programming and a virtual prototype of the optimal result has been implemented in SolidWorks.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots -- Kinematics
parallel manipulators
robot kinematics
manipulator design
kinematics singularities.
Classificació INSPEC::Automation::Robots::Robot kinematics
Asociación Española de Ingeniería Mecánica

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