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
Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities
01.02.2008
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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