{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"institution":[{"id":[{"id":"https:\/\/ror.org\/03mb6wj31","id-type":"ROR","asserted-by":"publisher"},{"id":"https:\/\/www.isni.org\/000000041937028X","id-type":"ISNI","asserted-by":"publisher"},{"id":"https:\/\/www.wikidata.org\/entity\/Q1640731","id-type":"wikidata","asserted-by":"publisher"}],"name":"Universitat Polit\u00e8cnica de Catalunya","acronym":["UPC"]}],"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T14:15:48Z","timestamp":1785420948050,"version":"3.56.0"},"reference-count":0,"publisher":"Universitat Polit\u00e8cnica de Catalunya","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"abstract":"<jats:p>The aim of the thesis is to define, analyze, and verify through simulations and practical implementations, parallel robots with unconventional joints that allow them to be under-actuated and\/or reconfigurable.\r\nThe new designs will be derived from the:\r\n* 6SPS robot (alternatively 6UPS or 6SPU, depending on the implementation) when considering the spatial case (i.e., robots with 3 degrees of freedom of rotation and 3 degrees of freedom of translation).\r\n* S-3SPS robot (alternatively S-3UPS or S-3SPU, depending on the implementation) when considering spherical robots (i.e., robots with 3 degrees of freedom of rotation).\r\nIn both cases, we will see how, through certain geometric transformations, some of the standard joints can be replaced by lockable or non-holonomic joints. These substitutions permit reducing the number of legs (and hence the number of actuators needed to control the robot), without losing the robot's ability to bring its mobile platform to any position and orientation (in case of a spatial robot), or to any orientation (in case of a spherical robot), within its workspace.\r\nThe expected benefit of these new designs is to obtain parallel robots with:\r\n* larger working spaces because the possibility of collisions between legs is reduced, and the number of joints (with their intrinsic range limitations) is also reduced;\r\n* lower weight because the number of actuators and joints is reduced; and\r\n* lower cost because the number of actuators and controllers is also reduced.\r\nThe elimination of an actuator and the introduction of a motion constraint reduces in one the dimension of the space of allowed velocities attainable from a given configuration. As a result, it will be necessary, in general, to plan maneuvers to reach the desired configuration for the moving platform. Therefore, the obtained robots will only be suitable for applications where accuracy is required in the final position and a certain margin of error is acceptable in the generated trajectories.<\/jats:p>\n                <jats:p>El objetivo de esta tesis es definir, analizar y verificar, mediante simulaciones e implementaciones pr\u00e1cticas, robots paralelos con articulaciones no-convencionales con el fin de incorporarles propiedades de sub-actuaci\u00f3n y reconfigurabilidad. Los nuevos dise\u00f1os se basaran en robots paralelos tipo: * 6SPS (alternativamente 6UPS o 6SPU, dependiendo de la implementaci\u00f3n) para el caso de robot espacial (es decir, robots con 3 grados de libertad de rotaci\u00f3n y de 3 grados de libertad de la traducci\u00f3n). * S-3SPS (alternativamente S-3UPS o S-3SPU, dependiendo de la implementaci\u00f3n) para el caso de robot esf\u00e9rico (es decir, robots con 3 grados de libertad de rotaci\u00f3n). En ambos casos, veremos c\u00f3mo, a trav\u00e9s de ciertas transformaciones geom\u00e9tricas, algunas de la articulaciones convencionales pueden ser sustituidas por articulaciones bloqueables o no holon\u00f3micos. Estas sustituciones permiten la reducci\u00f3n de la n\u00famero de patas (y por tanto el n\u00famero de actuadores necesarios para controlar el robot), sin perder la capacidad del robot para llevar su plataforma m\u00f3vil a cualquier posici\u00f3n y orientaci\u00f3n (en el caso de un robot espacial), o para cualquier orientaci\u00f3n (en el caso de un robot esf\u00e9rico), dentro de su espacio de trabajo. El beneficio esperado de estos nuevos dise\u00f1os es la obtenci\u00f3n de robots paralelos con: * Espacios de trabajo mayores debido a que la posibilidad de colisiones entre las patas se reduce, y el n\u00famero de articulaciones (con sus limitaciones intr\u00ednsecas de rango) tambi\u00e9n se reduce; * Menor peso debido a que el n\u00famero de actuadores y de articulaciones se reduce; y * Un menor coste debido a que el n\u00famero de actuadores y controladores tambi\u00e9n se reduce. La eliminaci\u00f3n de un actuador y la introducci\u00f3n de una restricci\u00f3n de movimiento reduce, en uno, la dimensi\u00f3n del espacio de velocidades alcanzables para una configuraci\u00f3n dada. Como resultado, ser\u00e1 necesario, en general, planificar maniobras para llegar a la configuraci\u00f3n deseada de la plataforma m\u00f3vil. Por lo tanto, los robots obtenidos s\u00f3lo ser\u00e1n adecuados para aplicaciones donde la precisi\u00f3n se requiera en la posici\u00f3n final y exista un cierto margen de error aceptable en las trayectorias generadas<\/jats:p>","DOI":"10.5821\/dissertation-2117-96379","type":"dissertation","created":{"date-parts":[[2023,10,14]],"date-time":"2023-10-14T01:27:15Z","timestamp":1697246835000},"approved":{"date-parts":[[2016,6,23]]},"source":"Crossref","is-referenced-by-count":0,"title":["Parallel robots with unconventional joints to achieve under-actuation and reconfigurability"],"prefix":"10.5821","author":[{"given":"Patrick John","family":"Grosch Obregon","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"3865","container-title":[],"original-title":[],"contributor":[{"sequence":"additional","affiliation":[],"role":[null]}],"deposited":{"date-parts":[[2026,1,16]],"date-time":"2026-01-16T06:50:24Z","timestamp":1768546224000},"score":1,"resource":{"primary":{"URL":"https:\/\/hdl.handle.net\/2117\/96379"}},"subtitle":[],"editor":[{"given":"Federico","family":"Thomas","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"editor"}]}],"short-title":[],"issued":{"date-parts":[[null]]},"references-count":0,"URL":"https:\/\/doi.org\/10.5821\/dissertation-2117-96379","relation":{},"subject":[]}}