A type synthesis method for hybrid robot structures

被引：58

作者：

Campos, Alexandre ^{[1
]}

Budde, Christoph ^{[1
]}

Hesselbach, Juergen ^{[1
]}

机构：

[1] Tech Univ Carolo Wilhelmina Braunschweig, Inst Machine Tools & Prod Technol, D-38106 Braunschweig, Germany

来源：

MECHANISM AND MACHINE THEORY | 2008年 / 43卷 / 08期

关键词：

hybrid robot; synthesis method; assur groups;

D O I：

10.1016/j.mechmachtheory.2007.07.006

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper a new methodology to synthesize hybrid robots as a whole structure is presented. The method is based on Assur groups as the simplest basic blocks to build kinematic chains. Criterions like symmetry and low inertia are considered in the design process. The method results in hybrid robots whose structures are as simple as possible. The closed chains of some of them are known parallel structures, however one of them is a new hybrid structure. (C) 2007 Published by Elsevier Ltd.

引用

页码：984 / 995

页数：12

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