Design and kinematic analysis of modular reconfigurable parallel robots

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作者：
Gintic Inst of Manufacturing, Technology, Singapore, Singapore [1 ]
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来源：
Proc IEEE Int Conf Rob Autom | / 2501-2506期
关键词：
Algorithms - Kinematics - Mobile robots - Modular robots - Numerical analysis - Visualization;
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摘要：
A modular parallel robotic system consists of a collection of individual standard units that can be assembled into various robot configurations for a diversity of task requirements. This paper is focused on the design and kinematic analysis of modular reconfigurable parallel robots. A set of fundamental modules is considered. A local frame representation of the Product-Of-Exponentials (POE) formula, i.e., the local POE formula, is employed for the kinematic analysis of modular parallel robots. Two forward displacement analysis algorithms and a workspace visualization scheme are presented for a class of 3-leg modular parallel robots. Computation examples are also given to demonstrate the effectiveness of the proposed algorithms. The kinematic formulation shows that the local POE formula is a systematic and well-structured method for the kinematic analysis of parallel robots.
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