digital-brain/content/article/legnani12_new_isotr_decoup_paral_manip.md

+++ title = "A new isotropic and decoupled 6-dof parallel manipulator" author = ["Dehaeze Thomas"] draft = false +++

Tags

[Stewart Platforms]({{< relref "stewart_platforms.md" >}})

Reference

(Legnani 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 src="/ox-hugo/legnani12_isotropy_gen.png" caption="<span class="figure-number">Figure 1: Location of the leg axes using an isotropy generator" >}}

{{< figure src="/ox-hugo/legnani12_generated_isotropy.png" caption="<span class="figure-number">Figure 2: Isotropic configuration" >}}

Bibliography

Legnani, G., I. Fassi, H. Giberti, S. Cinquemani, and D. Tosi. 2012. “A New Isotropic and Decoupled 6-Dof Parallel Manipulator.” Mechanism and Machine Theory 58 (nil): 64–81. doi:10.1016/j.mechmachtheory.2012.07.008.