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Title

A reconfigurable asymmetric 3-UPU parallel robot

AuthorsSarabandi, Soheil; Grosch, Patrick ; Porta, Josep M. ; Thomas, Federico
Issue Date30-Aug-2018
PublisherInstitute of Electrical and Electronics Engineers
CitationInternational Conference on Reconfigurable Mechanisms and Robots (ReMAR): 1-8 (2018)
AbstractParallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some arrangements, despite their theoretical interest, are of doubtful practical utility due to their sensitivity to errors and the presence in their workspaces of mixed-modes that involve both translations and rotations. The introduction of some sort of asymmetry has been revealed of relevance to come up with more robust designs. In this context, we present an asymmetric 3-P robot, that can be reconfigured to work either as a translational or as a rotational robot by simply flipping upside down its moving platform.
Descriptiontrabajo presentado en la 4th International Conference on Reconfigurable Mechanisms and Robots, celebrada en Delft (Netherlands), del 20 al 22 de junio de 2018
Publisher version (URL)http://dx.doi.org/10.1109/REMAR.2018.8449859
URIhttp://hdl.handle.net/10261/179921
DOI10.1109/REMAR.2018.8449859
ISBN978-1-5386-6380-6
Appears in Collections:(IRII) Libros y partes de libros
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