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Communication Dans Un Congrès Année : 2006

Complexity-Based Rules for the Conceptual Design of Robotic Architectures

Résumé

We propose a formulation capable of measuring the complexity of kinematic chains at the conceptual stage in robot design. First, the complexity of the three basic lower kinematic pairs, the revolute, the prismatic and the cylindrical pairs, is proposed. Then, a formulation of the complexity of kinematic chains is introduced. Next, the complexity of the basic displacement subgroups generated by the lower kinematic pairs is established. Finally, as an example, two realizations of the Schönflies displacement subgroup are compared.

Domaines

Electronique
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Dates et versions

hal-00465527 , version 1 (19-03-2010)

Identifiants

  • HAL Id : hal-00465527 , version 1

Citer

Waseem A. Khan, Stéphane Caro, Damiano Pasini, Jorge Angeles. Complexity-Based Rules for the Conceptual Design of Robotic Architectures. 10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.1-10. ⟨hal-00465527⟩
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