The kinematics of modular spatial hyper-redundant manipulators formed from RPS-type limbs

被引：34

作者：

Gallardo, Jaime ^{[1
]}

Lesso, Raul ^{[1
]}

Rico, Jose M. ^{[2
]}

Alici, Gursel ^{[3
]}

机构：

[1] Inst Tecnol Celaya, Dept Mech Engn, Celaya 38010, Gto, Mexico

[2] Univ Guanajuato, FIMEE, Salamanca 36730, Gto, Mexico

[3] Univ Wollongong, Sch Mech Mat & Mechatron Engn, Wollongong, NSW 2522, Australia

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2011年 / 59卷 / 01期

关键词：

Parallel manipulator; Hyper redundancy; Screw theory; Klein form; Forward kinematics; PARALLEL MANIPULATORS; STEWART PLATFORM; GEOMETRY; DESIGN;

D O I：

10.1016/j.robot.2010.09.005

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 study addresses the kinematics including position velocity and acceleration analyses of a modular spatial hyper-redundant manipulator built with a variable number of serially connected identical mechanical modules with autonomous motions First the kinematics of the base module a three-legged in-parallel manipulator is formulated using the theory of screws After that the results thus obtained are applied recursively for accomplishing the kinematic analyses of the hyper-redundant manipulator at hand A numerical exampled is included (C) 2010 Elsevier B V All rights reserved

引用

页码：12 / 21

页数：10

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