Title :
Design of cooperating spherical RPR robots
Author :
Larochelle, Pierre M.
Author_Institution :
Mech. Eng. Program, Florida Inst. of Technol., Melbourne, FL, USA
Abstract :
This paper uses the kinematic mapping into the image space of spherical displacements to design a cooperating spherical robot system for workpiece orientating. The kinematic chain formed by the cooperating robots grasping the workpiece forms a multi degree of freedom closed chain which is also known as a robotic mechanism. The spherical robots considered are spherical RPR open chains and they rigidly grasp the workpiece to form a 9 degree of freedom closed chain. The design problem considered is to determine the base locations and grasp points that enable the cooperating robots to guide a workpiece, through an arbitrary number of desired orientations. An example of the design of a cooperating spherical RPR robot system for six (6) desired orientations is presented
Keywords :
cooperative systems; manipulator kinematics; minimisation; 9 degree of freedom closed chain; cooperating spherical RPR robots; image space; kinematic chain; kinematic mapping; multi degree of freedom closed chain; spherical displacements; workpiece orientating; Kinematics; Manufacturing; Mechanical engineering; Orbital robotics; Process design; Robots; Space technology; Wrist;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619275
