Design and kinematic analysis of modular reconfigurable parallel robots

被引：34

作者：

Yang, GL ^{[1
]}

Chen, IM ^{[1
]}

Lim, WK ^{[1
]}

Yeo, SH ^{[1
]}

机构：

[1] Gintic Inst Mfg Technol, Automat Technol Div, Singapore 638075, Singapore

来源：

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年

关键词：

D O I：

10.1109/ROBOT.1999.773973

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A modular parallel robotic system consists of a collection of individual standard units that can be assembled into various robot configurations for a diversity of task requirements. This paper is focused on the design and kinematic analysis of modular reconfigurable parallel robots. A set of fundamental modules is considered. A local frame representation of the Of-Exponentials (POE) formula, i.e., the local POE formula, is employed for the kinematic analysis of modular parallel robots. Two forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of 3-leg modular parallel robots. Computation examples are also given to demonstrate the effectiveness of the proposed algorithms. The kinematic formulation shows that the local POE formula is a systematic and well-structured method for the kinematic analysis of parallel robots.

引用

页码：2501 / 2506

页数：6

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