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Title:
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Analysing the singularities of 6-SPS parallel robots using virtual legs
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Author:
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Borràs Sol, Júlia; Thomas, Federico; Torras, Carme
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Other authors:
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Institut de Robòtica i Informàtica Industrial |
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Abstract:
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A virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. In this paper, we consider four different rigid subassemblies, and show how the singularities of a robot containing one or several of these subassemblies are modified when substituting its actual legs by virtual legs. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robots -- Kinematics
-Robots
-Cinemàtica
-Classificació INSPEC::Automation::Robots::Robot kinematics |
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Rights:
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Document type:
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Conference Object |
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Published by:
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LIRMM
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Share:
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