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
File
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, 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.
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