Presentado al XVII Congreso Nacional de Ingeniería Mecánica celebrado en Gijón del14 al 15 de febreo de 2008.-- Enlace al video de la conferencia. ; A 6-DOF 4-4 parallel manipulator is presented. Its forward kinematics can be solved by a sequence of three trilaterations and, as a consequence, its singularities can be described in geometric terms as the degeneration of three tetrahedra. Moreover, it is shown how the proposed manipulator belongs to the family of flagged parallel manipulators. This identification is useful because the topology of the singularity locus of flagged manipulators have been fully characterized and, what is more important, the singularities of flagged manipulators correspond to uncoupled translations and/or rotations in the workspace of the manipulator. An optimization of its workspace is carried out using Sequential Quadratic Programming and a virtual prototype of the optimal result have been implemented in SolidWorksTM. ; Peer reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities


    Beteiligte:

    Erscheinungsdatum :

    01.02.2008


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Numerical computation of manipulator singularities

    Bohigas, Oriol / Zlatanov, Dimiter / Ros, Lluís et al. | BASE | 2012

    Freier Zugriff

    Numerical computation of manipulator singularities

    Bohigas Nadal, Oriol / Zlatanov, Dimiter / Ros Giralt, Lluís et al. | BASE | 2012

    Freier Zugriff

    Optimal Design of a 2-UPR-RPU Parallel Manipulator

    Chen, Qiaohong | Online Contents | 2015


    Optimal Uncoupled Impedance Matching for Coupled MIMO Arrays

    Jensen, M. A. / Booth, B. / European Space Agency | British Library Conference Proceedings | 2006


    Numerical computation and avoidance of manipulator singularities

    Bohigas, Oriol | BASE | 2013

    Freier Zugriff