Motion Planning for a Novel Reconfigurable Parallel Manipulator with Lockable Revolute Joints

被引：40

作者：

Grosch, Patrick ^{[1
]}

Di Gregorio, Raffaele ^{[2
]}

Lopez, Javier ^{[1
]}

Thomas, Federico ^{[1
]}

机构：

[1] CSIC UPC, Inst Robot & Informat Ind, Llorens Artigas 4-6, Barcelona 08028, Spain

[2] Univ Ferrara, Dept Engn, I-44100 Ferrara, Italy

来源：

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年

关键词：

KINEMATICS;

D O I：

10.1109/ROBOT.2010.5509305

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having RRPS (Revolute-Revolute-Prismatic-Spherical) topology. Only the prismatic joint is actuated and the first revolute joint in the chain can be locked or released online. The introduction of these lockable joints allow the prismatic actuators to maneuver to approximate 6-DoF motions for the moving platform. An algorithm for generating these maneuvers is first described. Then, a motion planner, based on the generation of a Probabilistic RoadMap (PRM) whose nodes are connected using the described maneuvers, is presented. The generated trajectories avoid singularities and possible collisions between legs. (See accompanying video)

引用

页码：4697 / 4702

页数：6

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