揭示$SO(3)$并联机器人变体:最优机器人在仿人眼上的应用

IF 5.3 2区 计算机科学 Q2 ROBOTICS
Hassen Nigatu;Jihao Li;Gaokun Shi;Jianguo Wang;Guodong Lu;Howard Li;Huixu Dong
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引用次数: 0

摘要

本研究采用解析李代数方法对$SO(3)$型并联机器人变体进行了系统的运动分析和分类。这些机器人以其围绕固定点进行任意旋转的能力而闻名,这使得它们适用于各种应用。尽管它们的体系结构具有多样性,但现有的研究在很大程度上是在逐个案例的基础上对待它们的,限制了对所有潜在变体和从这种多样性中获得的好处的探索。通过反向螺旋法应用广义解析方法,系统地研究了产生$SO(3)$运动的肢体的运动学条件。因此,我们确定了73种不同的非冗余肢体类型,能够产生所需的SO(3)$运动。我们的方法包括深入的代数运动约束分析,揭示不同变体的共同特征。这使我们确定了73个对称和5,256个非对称变体,总共5,329个,每个变体都具有独特的功能。最后,我们从这个集合中选择了一个计算优化的小型化机器人用于类人眼系统。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Unveiling $SO(3)$ Parallel Robot Variants: Application of the Optimal Robot to a Humanoid Eye
This study presents a systematic motion analysis and classification of $SO(3)$-type parallel robot variants using an analytical Lie algebra approach. These robots are known for their ability to perform arbitrary rotations around a fixed point, making them suitable for various applications. Despite their architectural diversity, existing research has largely treated them on a case-by-case basis, limiting the exploration of all potential variants and the benefits derived from this diversity. By applying a generalized analytical approach through the reciprocal screw method, we systematically examine the kinematic conditions for limbs that generate $SO(3)$ motion. As a result, we identify 73 distinct non-redundant limb types capable of producing the desired $SO(3)$ motion. Our approach includes an in-depth algebraic motion-constraint analysis, uncovering common characteristics across different variants. This leads us to identify 73 symmetric and 5,256 asymmetric variants, for a total of 5,329, each with unique capabilities. Finally, we selected a computationally optimized, miniaturized robot from this set for use in a humanoid eye system.
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来源期刊
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters Computer Science-Computer Science Applications
CiteScore
9.60
自引率
15.40%
发文量
1428
期刊介绍: The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.
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