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Communication Dans Un Congrès Année : 2001

Confined Morphological Choice Of Planar Kinematic Mechanisms In Robotics

Résumé

In this paper a morphological confined choice for kinematic mechanisms in robotics is presented. It is based on symmetries of structures. The number of possible configurations is confined by eliminating the symmetrical ones. Different cases of symmetries have been studied. An expression for the calculation of the number of frames and end-effectors is presented. It enables the reduction of the number of structures by avoiding those that are isomorphic. Following this, examples for applications for various kinematic structures are presented, enabling the field of research to be restricted to the possible solutions.
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Dates et versions

hal-00375683 , version 1 (15-04-2009)

Identifiants

  • HAL Id : hal-00375683 , version 1

Citer

Peter Mitrouchev. Confined Morphological Choice Of Planar Kinematic Mechanisms In Robotics. IASTED International Symposium Manufacturing and Robotics, May 2001, Mexico, Mexico. pp.12-17. ⟨hal-00375683⟩
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