A reconfigurable 5-DoF 5-SPU parallel platform

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/6436

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor.author	Borràs Sol, Júlia
dc.contributor.author	Thomas, Federico
dc.contributor.author	Ottaviano, Erika
dc.contributor.author	Ceccarelli, Marco
dc.date	2009
dc.identifier.citation	Borras, 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.identifier.citation	1-876346-58-2
dc.identifier.uri	http://hdl.handle.net/2117/6436
dc.language.iso	eng
dc.relation	http://ieeexplore.ieee.org/xpls/abs_all.jsp?isnumber=5173784&arnumber=5173892&count=113&index=95
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robotics -- Design and construction
dc.subject	Robots -- Disseny i construcció
dc.title	A reconfigurable 5-DoF 5-SPU parallel platform
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	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.
dc.description.abstract	Peer Reviewed

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