Title :
A new mechanism structure and kinematics solution for continuous robot
Author :
Chunxia Zhang ; Jianghai Zhao ; Chuanqi Wang ; Jian Fang
Author_Institution :
Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China
Abstract :
Inspired by the motion mechanism of the trunk, a novel mechanism for the continuous robot is proposed in this paper. As the research of biological organization of the trunk, a continuous robot with two continuous joints and two discrete joints is constructed in this research. The geometric analysis-method (GAM) based on D-H parameter correction method for the kinematics of this mechanism is also proposed in this paper. The continuous joint in this robot has two degree of freedom (DOF) which pitching and rotation DOF, respectively. To verify the effectiveness of the GAM, the simulation results are shown in the end of this paper.
Keywords :
geometry; motion control; robot kinematics; D-H parameter correction method; DOF; GAM; biological organization; continuous robot; degree of freedom; geometric analysis method; kinematics solution; mechanism structure; motion mechanism; trunk; Automation; Conferences; Joints; Kinematics; Manipulators; Robot sensing systems; GAM; bionic continuous joints; discrete joints combine; trunk arm;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885792
