基于拓扑的可重构并行触觉接口工作空间增强

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI:10.1109/AQTR.2016.7501314

C. Boanta, C. Brisan

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引用次数: 3

摘要

通过分析拓扑结构和关节极限对工作空间尺寸的影响，增加了一类特殊并联机器人的几何工作空间。在此基础上，提出了一种并联可重构机器人系统的拓扑结构和设计建模方法。此外，还分析了几种配置对其工作空间尺寸的影响。本文提出的可重构机器人系统具有3、4、5和6个自由度，设计用于虚拟现实的触觉界面。连接固定平台和移动平台的运动链由旋转关节、万向关节和球面关节组成。分析了拓扑结构和关节限制对工作空间尺寸的影响。为所有配置评估恒定方向工作空间。

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Topology based enhancement of the workspace of a reconfigurable parallel haptic interface

The aim of this paper is to increase the geometric workspace of a special class of parallel robots by analyzing the influence of the topology and the joints limits upon the workspace dimensions. Hence, the topology and design modeling of a parallel reconfigurable robotic system used as a haptic interface are presented. More, their influence upon its workspace dimensions are analyzed for several configurations. The reconfigurable robotic system that is presented in this paper has 3,4,5 and 6 degrees of freedom and it is designed to work as a haptic interface with virtual reality. The kinematic chains that connect the fixed and the mobile platform are composed by rotational, universal and spherical joints. The paper illustrates an analysis regarding the influence of the topology and joint limitations upon the dimensions of the workspace. The constant orientation workspace is evaluated for all the configurations.

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来源期刊

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

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