Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities

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Title:	Optimal design of a 6-DOF 4-4 parallel manipulator with uncoupled singularities
Author:	Borràs Sol, Júlia; Ottaviano, Erika; Ceccarelli, Marco; Thomas, Federico
Other authors:	Institut de Robòtica i Informàtica Industrial
Abstract:	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 has 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 has been implemented in SolidWorks.
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots -- Kinematics -parallel manipulators -robot kinematics -manipulator design -kinematics singularities. -Robots -Cinemàtica -Classificació INSPEC::Automation::Robots::Robot kinematics
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Document type:	Conference Object
Published by:	Asociación Española de Ingeniería Mecánica
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