Singularity-invariant families of line-plane 5-SPU platforms
Cita com:
hdl:2117/14455
Tipus de documentArticle
Data publicació2011-10
Condicions d'accésAccés obert
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Abstract
A 5-SPU robot with collinear universal joints is well
suited to handling an axisymmetric tool, since it has 5 controllable
DoFs and the remaining one is a free rotation around the tool. The
kinematics of such a robot having also coplanar spherical joints
has previously been studied as a rigid subassembly of a Stewart-
Gough platform, it being denoted a line-plane component. Here
we investigate how to move the leg attachments in the base and
the platform without altering the robot’s singularity locus. By
introducing the so-called 3D space of leg attachments, we prove
that there are only three general topologies for the singularity
locus corresponding to the families of quartically-, cubicallyand
quadratically-solvable 5-SPU robots. The members of the
last family have only 4 assembly modes, which are obtained
by solving two quadratic equations. Two practical features of
these quadratically-solvable robots are the large manipulability
within each connected component and the fact that, for a fixed
orientation of the tool, the singularity locus reduces to a plane.
CitacióBorras, J.; Thomas, F.; Torras, Carme. Singularity-invariant families of line-plane 5-SPU platforms. "IEEE transactions on robotics", Octubre 2011, vol. 27, núm. 5, p. 837-848.
ISSN1552-3098
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