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Open Access item Singularity-invariant leg substitutions in pentapods

Authors:Borràs, Julia
Thomas, Federico
Keywords:Pentapod, Fully-parallel robots, Singularities, Singularity-invariant transformations
Issue Date:2010
Publisher:Institute of Electrical and Electronics Engineers
Citation:IEEE/RSJ International Conference on Intelligent Robots and Systems: 2766-2771 (2010)
Abstract: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.
Description:6 páginas, 5 figuras, 4 tablas.-- Trabajo presentado a la IROS 2010 celebrada en Taipei (Taiwan) del 18 al 22 de Octubre.
Publisher version (URL):http://dx.doi.org/10.1109/IROS.2010.5652202
URI:http://hdl.handle.net/10261/39199
ISBN:978-1-4244-6674-0
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Appears in Collections:(IRII) Libros y partes de libros

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