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Journal Articles

Design and Modeling of a Parallel Continuum Manipulator for Trunk Motion Rehabilitation

Daniel Díaz-Caneja, Francisco J. Campa, Oscar Altuzarra

J. Med. Devices. March 2021, 15(1): 011109.

Paper No: MED-20-1167

DOI: https://doi.org/10.1115/1.4049551

Published Online: January 28, 2021

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Topics: Design, Kinematics, Manipulators, Modeling, Motors, Rotation, Torque, Engineering prototypes, Force sensors, Sensors

Proceedings Papers

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

Antonio Ruiz, Francisco Campa Gomez, Constantino Roldan-Paraponiaris, Oscar Altuzarra

Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A022, August 2–5, 2015

Paper No: DETC2015-47449

DOI: https://doi.org/10.1115/DETC2015-47449

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Topics: Compliant mechanisms, Kinematics, Micromilling, Manipulators, Finite element methods, Finite element model, Milling, Parallel mechanisms, Control equipment, Cutting

Proceedings Papers

Dynamic Simulation of a Tripod Based in Boltzmann-Hamel Equations

Oscar Altuzarra, Francisco Campa Gomez, Constantino Roldan-Paraponiaris, Charles Pinto

Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A022, August 2–5, 2015

Paper No: DETC2015-47427

DOI: https://doi.org/10.1115/DETC2015-47427

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Topics: Simulation, Actuators, Manipulators, Dynamic response, Dynamics (Mechanics), Equations of motion, Kinematic chains, Mechanical admittance, Stability, Transfer functions

Proceedings Papers

Analysis and Design of the 2PRU-1PRS Manipulator for Vibration Testing

Saioa Herrero, Charles Pinto, Oscar Altuzarra, Constantino Roldan-Paraponiaris

Proc. ASME. IMECE2014, Volume 4A: Dynamics, Vibration, and Control, V04AT04A020, November 14–20, 2014

Paper No: IMECE2014-36864

DOI: https://doi.org/10.1115/IMECE2014-36864

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Topics: Design, Manipulators, Testing, Vibration, Graphical user interfaces, Vibration tests, Degrees of freedom, Engineering simulation, Inertia (Mechanics), Kinematics

Proceedings Papers

Actuators Orientation Influence in the Energy Consumption of the 3-PRS Manipulator

Saioa Herrero, Charles Pinto, Javier Corral, Oscar Altuzarra

Proc. ASME. IMECE2013, Volume 4B: Dynamics, Vibration and Control, V04BT04A071, November 15–21, 2013

Paper No: IMECE2013-63166

DOI: https://doi.org/10.1115/IMECE2013-63166

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Topics: Actuators, Energy consumption, Manipulators, Dynamics (Mechanics), Kinematics, Trajectories (Physics), Concretes, Mechanical admittance, Rotation

Journal Articles

Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators

Jokin Aginaga, Oscar Altuzarra, Erik Macho, Xabier Iriarte

J. Mech. Des. April 2013, 135(4): 041006.

Paper No: MD-12-1187

DOI: https://doi.org/10.1115/1.4023633

Published Online: March 26, 2013

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Topics: Clearances (Engineering), Deformation, Errors, Manipulators, Stress, Trajectories (Physics), End effectors

Journal Articles

Planning Nonsingular Transitions Between Solutions of the Direct Kinematic Problem From the Joint Space

Erik Macho, Victor Petuya, Oscar Altuzarra, Alfonso Hernandez

J. Mechanisms Robotics. November 2012, 4(4): 041005.

DOI: https://doi.org/10.1115/1.4007306

Published Online: September 17, 2012

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Topics: Kinematics, Manipulators

Proceedings Papers

Accuracy Analysis Considering Clearances and Elastic Deformations in Parallel Manipulators

Jokin Aginaga, Oscar Altuzarra, Erik Macho, Jon Olza

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 387-394, August 28–31, 2011

Paper No: DETC2011-47892

DOI: https://doi.org/10.1115/DETC2011-47892

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Topics: Deformation, Manipulators, Clearances (Engineering), Dimensions, End effectors, Errors, Screws, Stiffness, Trajectories (Physics)

Journal Articles

Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy

Oscar Altuzarra, C. Pinto, B. Sandru, A. Hernandez

J. Mech. Des. April 2011, 133(4): 041007.

DOI: https://doi.org/10.1115/1.4003879

Published Online: May 18, 2011

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Topics: Manipulators, Design, Trajectories (Physics), Pareto optimization, Cycles, Kinematics, Dimensions

Proceedings Papers

Pareto-Optimal Solutions Using Kinematic and Dynamic Functions for a Scho¨nflies Parallel Manipulator

Oscar Altuzarra, Charles Pinto, Bogdan Sandru, Enrique Amezua

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 513-522, August 30–September 2, 2009

Paper No: DETC2009-86723

DOI: https://doi.org/10.1115/DETC2009-86723

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Topics: Kinematics, Manipulators, Design, Actuators, Mechanical admittance, Pareto optimization, Testing, Trajectories (Physics)

Proceedings Papers

Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis

Oscar Altuzarra, Vi´ctor Petuya, Mo´nica Uri´zar, Alfonso Herna´ndez

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 493-502, August 30–September 2, 2009

Paper No: DETC2009-86654

DOI: https://doi.org/10.1115/DETC2009-86654

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Topics: Manufacturing, Manipulators, Design, Algebra, Dimensions, Path planning

Journal Articles

Computing the Configuration Space for Tracing Paths Between Assembly Modes

Mónica Urízar, Víctor Petuya, Oscar Altuzarra, Erik Macho, Alfonso Hernández

J. Mechanisms Robotics. August 2010, 2(3): 031002.

DOI: https://doi.org/10.1115/1.4001734

Published Online: June 21, 2010

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Topics: Manipulators, Manufacturing, Path planning, Joining

Proceedings Papers

Modal Characterization of the Instantaneous Mobility of Manipulators

Oscar Salgado, Oscar Altuzarra, Enrique Amezua, Alfonso Herna´ndez

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1289-1298, September 4–7, 2007

Paper No: DETC2007-35328

DOI: https://doi.org/10.1115/DETC2007-35328

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Topics: Manipulators, Mechanical admittance, Screws, Computer software

Proceedings Papers

A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion

Oscar Salgado, Oscar Altuzarra, Enrique Amezua, Alfonso Herna´ndez

Proc. ASME. IDETC-CIE2006, Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 833-842, September 10–13, 2006

Paper No: DETC2006-99197

DOI: https://doi.org/10.1115/DETC2006-99197

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Topics: Manipulators, Degrees of freedom, End effectors, Engineering prototypes, Kinematic analysis, Kinematic chains, Resolution (Optics), Stiffness

Journal Articles

Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator

Oscar Salgado, Oscar Altuzarra, Víctor Petuya, Alfonso Hernández

J. Mech. Des. April 2008, 130(4): 042305.

DOI: https://doi.org/10.1115/1.2839005

Published Online: March 3, 2008

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Topics: Kinematics, Manipulators, End effectors

Journal Articles

A Parallelogram-Based Parallel Manipulator for Schönflies Motion

Oscar Salgado, Oscar Altuzarra, Enrique Amezua, Alfonso Hernández

J. Mech. Des. December 2007, 129(12): 1243–1250.

DOI: https://doi.org/10.1115/1.2779898

Published Online: December 28, 2006

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Topics: Kinematics, Manipulators, End effectors, Kinematic chains, Design, Engineering prototypes

Journal citation

NARROW

Design and Modeling of a Parallel Continuum Manipulator for Trunk Motion Rehabilitation

Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling

Dynamic Simulation of a Tripod Based in Boltzmann-Hamel Equations

Analysis and Design of the 2PRU-1PRS Manipulator for Vibration Testing

Actuators Orientation Influence in the Energy Consumption of the 3-PRS Manipulator

Assessing Position Error Due to Clearances and Deformations of Links in Parallel Manipulators

Planning Nonsingular Transitions Between Solutions of the Direct Kinematic Problem From the Joint Space

Accuracy Analysis Considering Clearances and Elastic Deformations in Parallel Manipulators

Optimal Dimensioning for Parallel Manipulators: Workspace, Dexterity, and Energy

Pareto-Optimal Solutions Using Kinematic and Dynamic Functions for a Scho¨nflies Parallel Manipulator

Considering the Ability for Nonsingular Transitions of Assembly Mode for Dimensional Synthesis

Computing the Configuration Space for Tracing Paths Between Assembly Modes

Modal Characterization of the Instantaneous Mobility of Manipulators

A Parallelogram-Based Parallel Manipulator For Scho¨nflies Motion

Synthesis and Design of a Novel 3T1R Fully-Parallel Manipulator

A Parallelogram-Based Parallel Manipulator for Schönflies Motion

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