Synthesis of spatial RPRP loops for a given screw system

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/12087

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor.author	Pérez Gracia, Alba
dc.date	2010
dc.identifier.citation	Perez-Gracia, A. Synthesis of spatial RPRP loops for a given screw system. A: European Conference on Mechanism Science. "3rd European Conference on Mechanism Science". Cluj-Napoca: Springer, 2010, p. 11-18.
dc.identifier.citation	10.1007/978-90-481-9689-0_2
dc.identifier.uri	http://hdl.handle.net/2117/12087
dc.language.iso	eng
dc.publisher	Springer
dc.relation	http://dx.doi.org/10.1007/978-90-481-9689-0_2
dc.rights	Attribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robots -- Dynamics
dc.subject	Robots -- Dinàmica
dc.subject	Classificació INSPEC::Automation::Robots::Robot kinematics
dc.title	Synthesis of spatial RPRP loops for a given screw system
dc.type	info:eu-repo/semantics/submittedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	The dimensional synthesis of spatial chains for a prescribed set of positions can be used for the design of parallel robots by joining the solutions of each serial chain at the end effector. In some cases, this may yield a system with negative mobility. The synthesis of some overconstrained but movable linkages can be done by comparing the known screw system associated to the motion of the linkage to that generated by the tasks positions defined by the synthesis. This paper present the simplest case, that of the spatial RPRP closed chain, for which one solution exists.

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