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+++ title = "A new isotropic and decoupled 6-dof parallel manipulator" author = ["Thomas Dehaeze"] draft = false +++
- Tags
- [Stewart Platforms]({{< relref "stewart_platforms" >}})
- 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="Figure 1: Location of the leg axes using an isotropy generator" >}}
{{< figure src="/ox-hugo/legnani12_generated_isotropy.png" caption="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. https://doi.org/10.1016/j.mechmachtheory.2012.07.008.