2012 4th IEEE RAS & EMBS International Conference…

2012

The incredible complexity of the human hand makes accurate modeling difficult. When implementing a kinematic hand model, many simplifications are made, either to provide simpler analytical solutions,… (More)

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… (More)

In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless,… (More)

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… (More)

Any set of two legs in a Gough–Stewart platform sharing an attachment is defined as a ∆component. This component links a point in the platform (base) to a line in the base (platform). Thus, if the… (More)

The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables.… (More)

An algorithm to derive the pure condition of any double-plan ar StewartGough platform in a standard form suitable for comparison is presented. By applying the multilinear properties of brackets… (More)

In most practical implementations of the Gough-Stewart pla tform, the octahedral form is either taken as it stands or is approximated. The kinematics of this particula r instance of the Gough-Stewart… (More)

In this paper we apply the kineto-static mathematical models commonly used for robotic hands and for parallel manipulators to an example of handplus-object (parallel manipulator) with three fingers… (More)

In general, rearranging the legs of a StewartGough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless,… (More)