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Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces

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Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces

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Valero Chuliá, FJ.; Díaz-Rodríguez, M.; Vallés Miquel, M.; Besa Gonzálvez, AJ.; Bernabeu Soler, EJ.; Valera Fernández, Á. (2020). Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces. Mechatronics. 69:1-13. https://doi.org/10.1016/j.mechatronics.2020.102382

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/176463

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Title: Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces
Author: Valero Chuliá, Francisco José Díaz-Rodríguez, Miguel Vallés Miquel, Marina Besa Gonzálvez, Antonio José Bernabeu Soler, Enrique Jorge Valera Fernández, Ángel
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Issued date:
Abstract:
[EN] This paper aims to develop an approach for the reconfiguration of a parallel kinematic manipulator (PKM) with four degrees of freedom (DoF) designed to tackle tasks of diagnosis and rehabilitation in an injured knee. ...[+]
Subjects: Reconfigurable parallel robots , Optimization problem , Singularity avoidance
Copyrigths: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Source:
Mechatronics. (issn: 0957-4158 )
DOI: 10.1016/j.mechatronics.2020.102382
Publisher:
Elsevier
Publisher version: https://doi.org/10.1016/j.mechatronics.2020.102382
Project ID:
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-84201-R/ES/INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES/
info:eu-repo/grantAgreement/AEI//DPI2017-84201-R//Integración de modelos biomecánicos en el desarrollo y operación de robots rehabilitadores reconfigurables/
Thanks:
This work was supported by the Spanish Ministry of Education, Culture and Sports through the Project for Research and Technological Development with ref. DPI2017-84201-R.
Type: Artículo

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