By Jadran Lenarčič, Oussama Khatib (eds.)
The themes addressed during this publication disguise the entire diversity of kinematic research, synthesis and layout and look at robot structures owning serial, parallel and cable pushed mechanisms. The robot structures variety from being lower than absolutely cellular to kinematically redundant to over constrained.
The fifty-six contributions record the newest leads to robotic kinematics with emphasis on rising components similar to layout and regulate of humanoids or humanoid subsystems. The e-book is of curiosity to researchers eager to deliver their wisdom modern concerning glossy themes in a single of the fundamental disciplines in robotics, which pertains to the fundamental estate of robots, the movement of mechanisms.
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Extra resources for Advances in Robot Kinematics
Using the results of previous section, it can be found that its equivalent hidden robot model is a 3– RR robot (Fig. 3—grey joints denote actuated joints). t. the base and of an RR chain which is mounted on the link Bi Di . Forward kinematics and assembly modes. All the solutions to the fkp are at the intersections of the coupler curve (which represents the displacement loci of one platform extremity when one of the leg is disassembled, the actuators of the two other being fixed (see Fig. 3b)—for the present robot, the coupler curve is a sextic curve) with The Hidden Robot Concept 37 the vertex space of the disassembled leg (here, a circle) .
This feature makes the proposed wrist an ideal candidate to be a mechanical shoulder where the platform is the humerus with the line through O and B as axis, the RRRS subchain that controls the position of the elbow and the RU subchain that controls the rotation of the whole arm around the humerus axis. From a geometric point of view, point B is constrained to simultaneously lie on the plane through A and perpendicular to v, due to the RRRS subchain, and on the sphere centered at O with radius b, due to the RU subchain.
5 Conclusion Extensions to this analysis would logically include • Examination of workspace and singularity, • Generalizing by treating DK analysis of various S-joint distributions on the vertices of a scalene octahedron and/or, • Similarly treating an architecture with the six constraining planes embracing a general convex hexahedral volume. It should be noted here that the simplicity of the analysis presented comes about by applying the rotational kinematic mapping method, introduced by Husty , to mapping six points in EE to six planes in FF, called “Point-on-Plane” constraint equations (PoP) by Zsombor-Murray and Gfrerrer .