Trabajo presentado al ICRA 2010 celebrado en Anchorage (Alaska) del 3 al 7 de mayo. ; 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. It was shown that this component has 8 assembly modes corresponding to the roots of a bi-quartic polynomial. Here we identify a whole family of these 5-SPU robots having only 4 assembly modes, which are obtained by solving two quadratic equations. This family is defined by a simple proportionality constraint relating the coordinates of the base and platform attachments. A geometric interpretation of the architectural singularities of this type of robots in terms of conics is provided, which facilitates their avoidance at the design stage. Parallel singularities obey also a neat geometric structure, which permits deriving a cell decomposition of configuration space. Two practical features of these quadratically-solvable robots are the large maneuverability within each connected component and the fact that, for a fixed orientation of the tool, the singularity locus reduces to a plane. ; This work has been partially supported by the Generalitat de Catalunya through the VALTEC program, cofinanced by FEDER funds, and the Spanish Ministry of Education and Science, under the I+D project DPI2007-60858. ; Peer reviewed


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    Titel :

    A family of quadratically-solvable 5-SP̲U parallel robots


    Beteiligte:
    Borràs, Julia (Autor:in) / Thomas, Federico (Autor:in) / Torras, Carme (Autor:in)

    Erscheinungsdatum :

    2010-05-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



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