Singularity-Invariant Families of Line-Plane 5-S$\underline{\rm P}$ U Platforms
نویسندگان
چکیده
منابع مشابه
Singularity-Invariant Families of Line-Plane 5-SunderlineP U Platforms
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 StewartGough platform, it being denoted a line-plane component. Here we investigate ho...
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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 StewartGough platform, it being denoted a line-plane component. Here we investigate ho...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2011
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2011.2158018