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Título : Singularity-invariant leg substitutions in pentapods
Autor : Borràs, Julia, Thomas, Federico
Palabras clave : Pentapod
Fully-parallel robots
Singularity-invariant transformations
Fecha de publicación : 2010
Editor: Institute of Electrical and Electronics Engineers
Citación : IEEE/RSJ International Conference on Intelligent Robots and Systems: 2766-2771 (2010)
Resumen: A pentapod is usually defined as a 5-degree-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, inclination angles of up to 90 degrees are possible thus overcoming the orientation limits of the classical Stewart platform.
Descripción : 6 páginas, 5 figuras, 4 tablas.-- Trabajo presentado a la IROS 2010 celebrada en Taipei (Taiwan) del 18 al 22 de Octubre.
Versión del editor:
ISBN : 978-1-4244-6674-0
DOI: 10.1109/IROS.2010.5652202
Appears in Collections:(IRII) Libros y partes de libros

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