8 páginas, 7 figuras, 3 tablas.-- Trabajo presentado a la VI Robotics: Science and Systems Conference celebrada en Zaragoza (España) del 27 al 30 de junio de 2010. ; In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant but, unfortunately, these rearrangements are only valid for Stewart-Gough platforms containing rigid components. In this work, the authors go a step further presenting singularity-invariant leg rearrangements that can be applied to any Stewart-Gough platform whose base and platform attachments are coplanar. The practical consequences of the presented theoretical results are illustrated with several examples including well-known architectures. ; This work has been partially supported by the Generalitat de Catalunya through the VALTEC program, cofinanced by FEDER funds, and the Spanish Ministry of Science and Innovation, under the I+D project DPI2007-60858. ; Peer reviewed
Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms
01.06.2010
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms
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