KINEMATICS, WORKSPACE, AND DESIGN OF A DUAL-ARM SPATIAL ROBOT IN ZERO-GRAVITY

被引：2

作者：

AGRAWAL, SK

GARIMELLA, R

机构：

[1] Department of Mechanical Engineering, Ohio University, Athens, OH

来源：

JOURNAL OF MECHANICAL DESIGN | 1994年 / 116卷 / 03期

关键词：

D O I：

10.1115/1.2919467

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In the current literature on space robotics, an important idea that is overlooked is that the features of a space robot system need not be the same as those designed for use on earth. The differences arise due to conservation of linear and angular momentum applicable to free-floating manipulators. The objectives of this paper are: (1) to build a kinematic model of a robot system operating in space with two human-like arms, (2) to develop algorithms for determining inverse solutions and workspace, and (3) to provide guidelines for design of multi-arm robot systems for space applications. We show from these studies that inertial parameters such as link masses play an important role in determining the inverse solutions and workspace boundaries.

引用

页码：901 / 907

页数：7

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