Motion planning of a climbing parallel robot
This paper proposes a novel application of the Stewart–Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2003 |
| País: | España |
| Institución: | Universidad Politécnica de Cartagena(UPCT) |
| Repositorio: | Repositorio Digital UPCT |
| OAI Identifier: | oai:repositorio.upct.es:10317/1054 |
| Acceso en línea: | http://hdl.handle.net/10317/1054 |
| Access Level: | acceso abierto |
| Palabra clave: | Robot de escalada Robot paralelo Planificación de ruta Plataforma Stewart Climbing robot Parallel robot Path planning Stewart planning Ingeniería de Sistemas y Automática |
| Sumario: | This paper proposes a novel application of the Stewart–Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedom parallel robot is described, based on spatial constraint formulation. Finally, the gait pattern and the climbing strategy of the parallel robot is described. The information from this research is being used in an actual climbing parallel robot design at Miguel Hernández University of Elche (Alicante), Spain. |
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