Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/2718

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor.author	Borràs Sol, Júlia
dc.contributor.author	Ottaviano, Erika
dc.contributor.author	Ceccarelli, Marco
dc.contributor.author	Thomas, Federico
dc.date	2008
dc.identifier.citation	Borràs Sol, Júlia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico. "Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities". A: XVII Congreso Nacional de Ingeniería Mecánica (CNIM), Gijón, Espanya, 2008. Asociación Española de Ingeniería Mecánica, 2008, p. 1047-1052 (Anales de Ingeniería Mecánica).
dc.identifier.uri	http://hdl.handle.net/2117/2718
dc.language.iso	eng
dc.publisher	Asociación Española de Ingeniería Mecánica
dc.relation	Congreso Nacional de Ingeniería Mecánica (CNIM)
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robots -- Kinematics
dc.subject	parallel manipulators
dc.subject	robot kinematics
dc.subject	manipulator design
dc.subject	kinematics singularities.
dc.subject	Robots
dc.subject	Cinemàtica
dc.subject	Classificació INSPEC::Automation::Robots::Robot kinematics
dc.title	Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	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.
dc.description.abstract	Peer Reviewed

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