On the kinematic constraint surfaces of general three-legged planar robot platforms

被引：15

作者：

Hayes, MJD

Husty, ML

机构：

[1] Carleton Univ, Dept Mech & Aerosp Engn, Ottawa, ON K1S 5B6, Canada

[2] Univ Innsbruck, Inst Tech Math Geometrie & Bauinformat, A-6020 Innsbruck, Austria

来源：

MECHANISM AND MACHINE THEORY | 2003年 / 38卷 / 05期

关键词：

kinematic mapping; constraint surface; planar parallel robot platform; hyperboloid of one sheet; hyperbolic paraboloid;

D O I：

10.1016/S0094-114X(02)00128-3

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The variants of general three-legged planar robot platforms are enumerated and classified. Constraint surfaces corresponding to individual platform legs in the kinematic mapping image space are classified and parametrized. The parametric equations are free from representational singularities. The entire set consists of hyperboloids of one sheet and hyperbolic paraboloids. This result corrects an oversight in the body of literature. These surfaces have important applications to the kinematic analysis of planar three-legged robot platforms, hence appropriate attention should be given to their classification. (C) 2003 Elsevier Science Ltd. All rights reserved.

引用

页码：379 / 394

页数：16

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