文件名称：Parallel Robots With Unconventional Joints: Kinematics and Motion Planning
文件大小：4.79MB
文件格式：PDF
更新时间：2022-04-21 10:42:04
Robots 机器人
This book shows how, through certain geometric transformations, some of the standard joints used in parallel robots can be replaced with lockable or non-holonomic joints. These substitutions allow for reducing the number of legs, and hence the number of actuators needed to control the robot, without losing the robot’s ability to bring its mobile platform to the desired configuration. The kinematics of the most representative examples of these new designs are analyzed and their theoretical features verified through simulations and practical implementations. 本书展示了如何通过某些几何变换，并联机器人中使用的一些标准关节可以用可锁定或非完整关节代替。 这些替换允许减少支腿的数量，并因此减少控制机器人所需的致动器的数量，而不会丧失机器人将其移动平台带到期望配置的能力。 分析了这些新设计最具代表性的例子的运动学，并通过仿真和实际实施验证了它们的理论特征。