A Reconfigurable Robot With Lockable Cylindrical Joints

被引：51

作者：

Aghili, Farhad ^{[1
]}

Parsa, Kourosh ^{[1
]}

机构：

[1] Canadian Space Agcy, Div Spacecraft Engn, St Hubert, PQ J3Y 8Y9, Canada

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 04期

关键词：

Constrained robot; parallel manipulator; reconfigurable robots; redundant manipulator; space manipulator; TORQUE CONTROL; SENSORY FEEDBACK; DYNAMICS; DESIGN; MANIPULATORS; INVERSE;

D O I：

10.1109/TRO.2009.2017130

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new conceptual design for reconfigurable robots. Unlike conventional reconfigurable robots, our design does not achieve reconfigurability by utilizing modular joints. Rather, the robot is equipped with passive joints, i.e., joints without actuator or sensor, which permit changing the Denavit Hartenberg (DH) parameters such as the link length and twist angle. The passive joints will become controllable when the robot forms a closed kinematic chain. Also, each passive joint is equipped with a built-in brake mechanism that is normally locked, but the lock can be released whenever the parameters are to be changed. Such a versatile and agile robot is particularly suitable for space application for its simple, compact, and light design. The kinematics and recalibration of this kind of reconfigurable robot are thoroughly analyzed. A stable reconfiguration-control algorithm is devised to take the robot from one configuration to another by directly regulating the passive joints to the associated, desired DH parameters. Conditions for the observability and the controllability of the passive joints are also derived in detail.

引用

页码：785 / 797

页数：13