35 lines
1.6 KiB
Markdown
35 lines
1.6 KiB
Markdown
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title = "A new isotropic and decoupled 6-dof parallel manipulator"
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author = ["Thomas Dehaeze"]
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draft = false
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Tags
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: [Stewart Platforms]({{< relref "stewart_platforms" >}})
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Reference
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: <sup id="17295cbc2858c65ecc60d51b450233e3"><a href="#legnani12_new_isotr_decoup_paral_manip" title="Legnani, Fassi, Giberti, Cinquemani, \& Tosi, A New Isotropic and Decoupled 6-dof Parallel Manipulator, {Mechanism and Machine Theory}, v(nil), 64-81 (2012).">(Legnani {\it et al.}, 2012)</a></sup>
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Author(s)
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: Legnani, G., Fassi, I., Giberti, H., Cinquemani, S., & Tosi, D.
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Year
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: 2012
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- Concepts of isotropy and decoupling for parallel manipulators
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- **isotropy**: the kinetostatic properties (same applicable force, same possible velocity, same stiffness) are identical in all directions (e.g. cubic configuration for Stewart platform)
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- **decoupling**: each DoF of the end effector can be controlled by a **single** actuator (not the case for the Stewart platform)
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Example of generated isotropic manipulator (not decoupled).
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<a id="orgd015b7e"></a>
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{{< figure src="/ox-hugo/legnani12_isotropy_gen.png" caption="Figure 1: Location of the leg axes using an isotropy generator" >}}
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<a id="orgb3cab58"></a>
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{{< figure src="/ox-hugo/legnani12_generated_isotropy.png" caption="Figure 2: Isotropic configuration" >}}
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# Bibliography
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<a id="legnani12_new_isotr_decoup_paral_manip"></a>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 [↩](#17295cbc2858c65ecc60d51b450233e3)
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