水下摄像机主动支撑三自由度混合式永磁正运动学方程

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201429

M. Zoppi, R. Molfino

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引用次数: 2

摘要

提出了一种具有一个平移自由度和两个转动自由度的三自由度混合并联机构ArmillEye。提出了正位问题的全参数解析模型，并讨论了可能的装配方式。ArmillEye已被选定为一种灵活的相机支撑机构，用于开发用于海上设施处置的水下机器人。与其他并联机构相比，ArmillEye具有预期任务所需的机动性，并且可以选择其几何形状以实现倾斜-平移-变焦机动性，倾斜与平移和变焦无关，有利于水下视觉。腿的连接可以很容易地形成一个低水动力阻力，使该机构可以在水下非常灵活。

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Forward kinematics equations of a 3-dof hybrid PM for underwater camera active support

The paper presents a 3-dof hybrid parallel mechanism architecture, ArmillEye, providing one translational and two rotational freedoms. A fully parametric, analytical model of the forward position problem is proposed and the possible assembly modes are discussed. ArmillEye has been selected as an agile camera support mechanism to be used onboard an underwater robot developed for the disposal of off-shore installations. Compared to other parallel mechanisms, ArmillEye has exactly the mobility required for the task foreseen and its geometry can be chosen in order to have a tilt-pan-zoom mobility with the tilt independent from the pan and the zoom, which results advantageous for underwater vision. The links of the legs can be easily shaped to achieve a low hydrodynamic resistance so that the mechanism can be very agile underwater.

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Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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