# A new isotropic and decoupled 6-dof parallel manipulator - My digital brain
Tags Stewart Platforms Reference (Legnani {\it et al.}, 2012) Author(s) Legnani, G., Fassi, I., Giberti, H., Cinquemani, S., &amp; Tosi, D. Year 2012 Concepts of isotropy and decoupling for parallel manipulators isotropy: the kinetostatic properties (same applicable force, same possible velocity, same stiffness) are identical in all directions (e.g. cubic configuration for Stewart platform) decoupling: each DoF of the end effector can be controlled by a single actuator (not the case for the Stewart platform) Example of generated isotropic manipulator (not decoupled).
Author: — Thomas Dehaeze

# A new isotropic and decoupled 6-dof parallel manipulator

Tags
  Stewart Platforms
Reference
  (Legnani {\it et al.}, 2012)
Author(s)
  Legnani, G., Fassi, I., Giberti, H., Cinquemani, S., & Tosi, D.
Year
  2012

- Concepts of isotropy and decoupling for parallel manipulators
- isotropy: the kinetostatic properties (same applicable force, same possible velocity, same stiffness) are identical in all directions (e.g. cubic configuration for Stewart platform)
- decoupling: each DoF of the end effector can be controlled by a single actuator (not the case for the Stewart platform)

Example of generated isotropic manipulator (not decoupled).

Figure 1: Location of the leg axes using an isotropy generator

Figure 2: Isotropic configuration

# Bibliography

Legnani, G., Fassi, I., Giberti, H., Cinquemani, S., & Tosi, D., A new isotropic and decoupled 6-dof parallel manipulator, Mechanism and Machine Theory, 58(nil), 64–81 (2012). http://dx.doi.org/10.1016/j.mechmachtheory.2012.07.008 ↩