English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/11977
Compartir / Impacto:
Estadísticas
Add this article to your Mendeley library MendeleyBASE
Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Título

Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities

AutorBorràs, Julia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico
Palabras claveParallel manipulators
Robot kinematics
Manipulator design
Kinematics singularities
Fecha de publicaciónfeb-2008
EditorAsociación Española de Ingeniería Mecánica
CitaciónXVII Congreso Nacional de Ingeniería Mecánica (2008)
ResumenA 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 have 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 have been implemented in SolidWorksTM.
DescripciónPresentado al XVII Congreso Nacional de Ingeniería Mecánica celebrado en Gijón del14 al 15 de febreo de 2008.-- Enlace al video de la conferencia.
Versión del editorhttp://mediateca.uniovi.es/web/mediateca/visor2/-/journal_content/56_INSTANCE_iV9s/10910/83331
URIhttp://hdl.handle.net/10261/11977
Aparece en las colecciones: (IRII) Comunicaciones congresos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
Design of a 6-DOF.pdf128,3 kBAdobe PDFVista previa
Visualizar/Abrir
Mostrar el registro completo
 


NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.