Publication
A reconfigurable 5-DoF 5-SPU parallel platform
Conference Article
Conference
International Conference on Reconfigurable Mechanisms and Robots (ReMAR)
Edition
1st
Pages
617-623
Doc link
http://ieeexplore.ieee.org/xpls/abs_all.jsp?isnumber=5173784&arnumber=5173892&count=113&index=95
File
Abstract
This paper presents a 5-SPU platform whose base leg attachments can be easily reconfigured, statically or dynamically, without altering its singularity locus. This permits to adapt the platform’s geometry to particular tasks without increasing the complexity of its control. The allowed reconfigurations permit to reduce the risk of collisions between legs, or even improving the stiffness of the platform, in a given region of its configuration space. It is also shown that no architectural singularities are introduced by the proposed reconfigurations.
Categories
robots.
Author keywords
Kinematics and dynamics of reconfiguration.
Scientific reference
J. Borràs, F. Thomas, E. Ottaviano and M. Ceccarelli. A reconfigurable 5-DoF 5-SPU parallel platform, 1st International Conference on Reconfigurable Mechanisms and Robots, 2009, London, pp. 617-623, 2009, IEEE.
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