Trabajo presentado al ICRA 2008 celebrado en Pasadena (USA) del 19 al 23 de mayo. ; Flagged manipulators are of interest because they are the only Stewart-Gough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be enlarged if one allows robot designs that, for some particular parameter values, become architecturally singular. Along this line, the most general 6-6 flagged manipulator is derived by applying a singularity-preserving transformation that leaves the relative position between two lines invariant. This transformation opens up the possibility of an “equal cross ratios” architectural singularity, which is shown to appear clearly in the factorization of the jacobian determinant. From the 6-6 flagged manipulator, all the extended family of (possibly architecturally-singular) flagged manipulators is derived. ; This work was supported by projects: 'Analysis and motion planning of complex robotic systems' (4802), 'Grup de recerca consolidat - ROBÒTICA' (8007). This research has been partially supported by the Spanish Committee for Science and Technology (CICYT), project DPI2007-60858, and the Catalan Research Commission, through the Consolidated Robotics Group. ; Peer Reviewed


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    Title :

    Architecture singularities in flagged parallel manipulators


    Contributors:

    Publication date :

    2008-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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