A reconfigurable 5-DoF 5-SPU parallel platform

Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009

Volumn , Issue , 2009, Pages 617-623

  Borràs, Júlia ^a   Thomas, Federico ^a   Ottaviano, Erika ^b   Ceccarelli, Marco ^b  

^a INSTITUT DE ROBÒTICA I INFORMÀTICA INDUSTRIAL CSIC UPC   (Spain)

^b UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

Author keywords

Kinematics and dynamics of reconfiguration

Indexed keywords

CONFIGURATION SPACE; KINEMATICS AND DYNAMICS OF RECONFIGURATION; PARALLEL PLATFORMS; RE-CONFIGURABLE; SINGULARITY LOCI;

WAVE FUNCTIONS;

KINEMATICS;

EID: 70449112374     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. J.-P. Merlet, Parallel Robots. Springer, 2000.
2. B. Dasguptaa and T. Mruthyunjayab, "The Stewart platform manipulator: a review," Mech. Mach. Theory, vol. 35, pp. 15-40, 2000.
3. X. Kong and C. Gosselin, "Classification of 6-SPS parallel manipulators according to their components," in Proc. ASME Des. Eng. Tech. Conf., 2000.
4. C. Zhang and S. Song, "Forward kinematics of a class of parallel (Stewart) platforms with closed-form solutions," in IEEE Int. Conf. Robot. Automat., 1991, pp. 2676-2681.
5. M. Husty and A. Karger, "Architecture singular parallel manipulators and their self-motions," in Int. Sym. Adv. Robot Kinematics, 2000, pp. 355-364.
6. J. Borràs and F. Thomas, "Kinematics of the line-plane subassembly in Stewart platforms," in IEEE Int. Conf. Robot. Automat., 2009.
7. C. Stechert and H.-J.Franke, "Requirement-oriented configuration of parallel robotic systems," in Proc. of The 17th CIRP Design Conference 2007, The Future of Product Development, pp. 259-268.
8. M. Krefft, J. Hesselbach, G. Herrmann, , and H. Brggemann, "Vjariopod: A reconfigurable parallel robot with high flexibility," in Proc. of ISR Robotik, Joint Conference on Robotics, 2006.
9. J. Hesselbach, M. Krefft, and H. Brggemann, "Reconfigurable parallel robots: Combining high flexibility and short cycle times," Production Engineering WGP e.V., vol. XIII, no. 1, pp. 109-112.
10. J. Borràs, F. Thomas, and C. Torras, "Analysing the singularities of 6-SPS parallel robots using virtual legs," in 2nd Int. Workshop on Fund. Issues and Future Research Dir. for Parallel Mech. and Manip., 2008, pp. 145-150.
11. -, "Architecture singularities in flagged parallel manipulators," in IEEE Int. Conf. Robot. Automat., 2008, pp. 3844-3850.
12. O. Ma and J. Angeles, "Architecture singularities of platform manipulators," in IEEE Int. Conf. Robot. Automat., vol. 2, 1991, pp. 1542-1547.
13. J. Borràs and F. Thomas, "Singularity-invariant leg rearrangements in line-plane components of Stewart-Gough platforms," submitted for publication.
14. J.-P. Merlet, "Jacobian, manipulability, condition number, and accuracy of parallel robots," J. Mech. Design, vol. 128, pp. 199-206, 2006.