Architectural singularities of a class of pentapods

A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, hi...

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Authors: Borràs Sol, Júlia, Thomas, Federico|||0000-0001-9341-5528, Torras, Carme|||0000-0002-2933-398X
Format: article
Publication Date:2011
Country:España
Institution:Universitat Politècnica de Catalunya (UPC)
Repository:UPCommons. Portal del coneixement obert de la UPC
Language:English
OAI Identifier:oai:upcommons.upc.edu:2117/14439
Online Access:https://hdl.handle.net/2117/14439
Access Level:Open access
Keyword:Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: parallel manipulators
robot kinematics
architectural singularities
singularities
manipulator design
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
id ES_cb2ef2f10240a5206ee11e2f20c046cc
oai_identifier_str oai:upcommons.upc.edu:2117/14439
network_acronym_str ES
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spelling Architectural singularities of a class of pentapodsBorràs Sol, JúliaThomas, Federico|||0000-0001-9341-5528Torras, Carme|||0000-0002-2933-398XRobots -- Dynamicsmanipulators robot kinematics PARAULES AUTOR: parallel manipulatorsrobot kinematicsarchitectural singularitiessingularitiesmanipulator designRobots -- DinàmicaClassificació INSPEC::Automation::Robots::Robot kinematicsÀrees temàtiques de la UPC::Informàtica::RobòticaA pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, high inclination angles could be attained, thus overcoming the orientation limits of the classical Stewart-Gough platform. This paper deals with pentapods with coplanar base attachments. In previous works changes in the location of the leg attachments that do not modify the singularity locus of the pentapod were studied. Such leg rearrangements reveal here as a powerful tool to shed light on the geometric structure of the singularity locus and, in particular, on architectural singularities. Indeed, a complete analysis of such singularities is carried out, providing both algebraic conditions, which complete previous results found in literature, and a geometrical interpretation that permits defining a measure of distance to architectural singularities. Such measure can be used as a index in the design process to obtain manipulators as far as possible from architectural singularities, leading to a better global behavior.20112011-01-0120122012-01-09journal articlehttp://purl.org/coar/resource_type/c_6501AOhttp://purl.org/coar/version/c_b1a7d7d4d402bcceinfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/14439reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/144392026-05-27T15:37:01Z
dc.title.none.fl_str_mv Architectural singularities of a class of pentapods
title Architectural singularities of a class of pentapods
spellingShingle Architectural singularities of a class of pentapods
Borràs Sol, Júlia
Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: parallel manipulators
robot kinematics
architectural singularities
singularities
manipulator design
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Architectural singularities of a class of pentapods
title_full Architectural singularities of a class of pentapods
title_fullStr Architectural singularities of a class of pentapods
title_full_unstemmed Architectural singularities of a class of pentapods
title_sort Architectural singularities of a class of pentapods
dc.creator.none.fl_str_mv Borràs Sol, Júlia
Thomas, Federico|||0000-0001-9341-5528
Torras, Carme|||0000-0002-2933-398X
author Borràs Sol, Júlia
author_facet Borràs Sol, Júlia
Thomas, Federico|||0000-0001-9341-5528
Torras, Carme|||0000-0002-2933-398X
author_role author
author2 Thomas, Federico|||0000-0001-9341-5528
Torras, Carme|||0000-0002-2933-398X
author2_role author
author
dc.subject.none.fl_str_mv Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: parallel manipulators
robot kinematics
architectural singularities
singularities
manipulator design
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robots -- Dynamics
manipulators robot kinematics PARAULES AUTOR: parallel manipulators
robot kinematics
architectural singularities
singularities
manipulator design
Robots -- Dinàmica
Classificació INSPEC::Automation::Robots::Robot kinematics
Àrees temàtiques de la UPC::Informàtica::Robòtica
description A pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, high inclination angles could be attained, thus overcoming the orientation limits of the classical Stewart-Gough platform. This paper deals with pentapods with coplanar base attachments. In previous works changes in the location of the leg attachments that do not modify the singularity locus of the pentapod were studied. Such leg rearrangements reveal here as a powerful tool to shed light on the geometric structure of the singularity locus and, in particular, on architectural singularities. Indeed, a complete analysis of such singularities is carried out, providing both algebraic conditions, which complete previous results found in literature, and a geometrical interpretation that permits defining a measure of distance to architectural singularities. Such measure can be used as a index in the design process to obtain manipulators as far as possible from architectural singularities, leading to a better global behavior.
publishDate 2011
dc.date.none.fl_str_mv 2011
2011-01-01
2012
2012-01-09
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AO
http://purl.org/coar/version/c_b1a7d7d4d402bcce
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/14439
url https://hdl.handle.net/2117/14439
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
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