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

Autor:	Borràs Sol, Júlia, Ottaviano, Erika, Ceccarelli, Marco, Thomas, Federico|||0000-0001-9341-5528
Přispěvatelé:	Institut de Robòtica i Informàtica Industrial
Jazyk:	angličtina
Rok vydání:	2008
Předmět:	Computer Science::Robotics Automation::Robots::Robot kinematics [Classificació INSPEC] parallel manipulators manipulator design Robots -- Kinematics kinematics singularities Cinemàtica Informàtica::Robòtica [Àrees temàtiques de la UPC] Robots robot kinematics
Zdroj:	Recercat. Dipósit de la Recerca de Catalunya Universitat Jaume I UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC)
Popis:	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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::7e2dd9b3fc6e57761bfaf848ca0b92e5 https://hdl.handle.net/2117/2718 Zobrazit plný text záznamu