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Título

Flagged parallel manipulators

AutorAlberich-Carramiñana, Maria ; Thomas, Federico; Torras, Carme
Palabras claveFlag manifold
Kinematics singularities
Manipulator design
Parallel manipulators
Stratification
Fecha de publicaciónoct-2007
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE Transactions on Robotics 23(5): 1013-1023 (2007)
ResumenThe conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform. These dependencies permit to describe the manipulator singularities in terms of incidences between two flags (hence, the name ldquoflaggedrdquo). Although these linear dependencies might look, at first glance, too restrictive, in this paper, the family of flagged manipulators is shown to contain large subfamilies of six-legged and three-legged manipulators. The main interest of flagged parallel manipulators is that their singularity loci admit a well-behaved decomposition with a unique topology irrespective of the metrics of each particular design. In this paper, this topology is formally derived and all the cells, in the configuration space of the platform, of dimension 6 (nonsingular) and dimension 5 (singular), together with their adjacencies, are worked out in detail.
Descripción11 pages, 16 figures.
Versión del editorhttp://dx.doi.org/10.1109/TRO.2007.903819
URIhttp://hdl.handle.net/10261/12891
DOI10.1109/TRO.2007.903819
ISSN1552-3098
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