{"title":"攀爬并联机器人的运动规划","authors":"M. A. Kroeger, R. Saltarén, R. Aracil, Ó. Reinoso","doi":"10.1109/TRA.2003.810238","DOIUrl":null,"url":null,"abstract":"Proposes an 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 Hernandez University of Elche (Alicante), Spain.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2003-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"88","resultStr":"{\"title\":\"Motion planning of a climbing parallel robot\",\"authors\":\"M. A. Kroeger, R. Saltarén, R. Aracil, Ó. Reinoso\",\"doi\":\"10.1109/TRA.2003.810238\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Proposes an 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 Hernandez University of Elche (Alicante), Spain.\",\"PeriodicalId\":161449,\"journal\":{\"name\":\"IEEE Trans. Robotics Autom.\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-06-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"88\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Trans. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/TRA.2003.810238\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Trans. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TRA.2003.810238","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 88
摘要
提出了Stewart-Gough并联平台在攀爬机器人中的应用及其运动学控制，用于攀爬具有未知空间轨迹的长结构，如棕榈树干、管子等。首先，对攀爬并联机器人进行了描述和设计。其次，基于空间约束公式对移动六自由度并联机器人进行了运动学逆解和正解分析。最后，描述了并联机器人的步态模式和攀爬策略。西班牙埃尔切(阿利坎特)米格尔·埃尔南德斯大学(Miguel Hernandez University of Elche)正在将这项研究的信息用于实际的攀爬并联机器人设计中。
Proposes an 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 Hernandez University of Elche (Alicante), Spain.
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