Publication

New geometric approaches to the singularity analysis of parallel platforms

Conference Article

Conference

Workshop de Robótica Experimental (W-ROBOT)

Edition

2011

Pages

173-180

Doc link

http://grvc.us.es/robot2011/

File

Download the digital copy of the doc pdf document

Abstract

In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant. In this work, a summary of the some of such singularity-invariant leg rearrangements are presented, and their practical consequences are illustrated with several examples including well-known architectures.

Categories

robot kinematics.

Author keywords

parallel platforms

Scientific reference

J. Borràs Sol, F. Thomas and C. Torras. New geometric approaches to the singularity analysis of parallel platforms, 2011 Workshop de Robótica Experimental, 2011, Seville, pp. 173-180.