简化机器人关节规范

The 24th Southeastern Symposium on and The 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design System Theory Pub Date : 1992-03-01 DOI:10.1109/SSST.1992.712275

N. Malladi, P. Chirala, B. Yilma

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引用次数: 0

摘要

提出了一种用单位向量定义机器人关节的下行平面和轴来描述机器人关节及其上行运动的简化方法;标量定义了关节位移和上行长度。定义了五种基本类型的关节来描述机器人的结构。这些是俯仰，偏航，曲柄，滚动和滑动接头。一个弯被视为一个冻结的俯仰、偏航或曲柄关节与一个固定的关节旋转角度。

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Simplified Robotic Joint Specification

A simplified approach for the specification of a robotic joint and its uplink motion is presented in terms of the unit vectors defining its downlink plane and axis; and scalars defining the joint displacement and the uplink length. Five basic types of joints are defined to describe a robot configuration. These are pitch, yaw, crank, roll and sliding joints. A bend is treated as a frozen pitch, yaw or crank joint with a fixed joint rotation angle.

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来源期刊

The 24th Southeastern Symposium on and The 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design System Theory

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