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—
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Thomas Dehaeze
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" /><meta name="description" content="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)." />
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<h1 class="post-title">A new isotropic and decoupled 6-dof parallel manipulator</h1>
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<dl>
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<dt>Tags</dt>
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<dd><a href="/zettels/stewart_platforms/">Stewart Platforms</a></dd>
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<dt>Reference</dt>
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<dd><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></dd>
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<dt>Author(s)</dt>
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<dd>Legnani, G., Fassi, I., Giberti, H., Cinquemani, S., & Tosi, D.</dd>
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<dt>Year</dt>
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<dd>2012</dd>
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</dl>
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<ul>
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<li>Concepts of isotropy and decoupling for parallel manipulators</li>
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<li><strong>isotropy</strong>: the kinetostatic properties (same applicable force, same possible velocity, same stiffness) are identical in all directions (e.g. cubic configuration for Stewart platform)</li>
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<li><strong>decoupling</strong>: each DoF of the end effector can be controlled by a <strong>single</strong> actuator (not the case for the Stewart platform)</li>
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</ul>
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<p>Example of generated isotropic manipulator (not decoupled).</p>
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<p><a id="orgd015b7e"></a></p>
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<figure>
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<img src="/ox-hugo/legnani12_isotropy_gen.png"
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alt="Figure 1: Location of the leg axes using an isotropy generator"/> <figcaption>
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<p>Figure 1: Location of the leg axes using an isotropy generator</p>
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</figcaption>
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</figure>
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<p><a id="orgb3cab58"></a></p>
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<figure>
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<img src="/ox-hugo/legnani12_generated_isotropy.png"
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alt="Figure 2: Isotropic configuration"/> <figcaption>
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<p>Figure 2: Isotropic configuration</p>
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</figcaption>
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</figure>
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<h1 id="bibliography">Bibliography</h1>
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<p><a id="legnani12_new_isotr_decoup_paral_manip"></a>Legnani, G., Fassi, I., Giberti, H., Cinquemani, S., & Tosi, D., <em>A new isotropic and decoupled 6-dof parallel manipulator</em>, Mechanism and Machine Theory, <em>58(nil)</em>, 64–81 (2012). <a href="http://dx.doi.org/10.1016/j.mechmachtheory.2012.07.008">http://dx.doi.org/10.1016/j.mechmachtheory.2012.07.008</a> <a href="#17295cbc2858c65ecc60d51b450233e3">↩</a></p>
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