Kinematics Analysis of a 3-DOF Joint for a Novel Hyper-Redundant Robot Arm

被引：0
|
作者：
Behrens, Roland [1 ]
Kuechler, Conrad [1 ]
Foerster, Tilo [1 ]
Elkmann, Norbert [1 ]
机构：
[1] Fraunhofer Inst Factory Operat & Automat, Business Unit Robot Syst, D-39106 Magdeburg, Germany
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
D O I：
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the kinematics of a joint with three degrees of freedom for a novel hyper-redundant robot arm is investigated. This joint is able to achieve a superposed rotation about two axes (roll and pitch) and a translational motion along one axis as a common prismatic joint. The forward and inverse kinematics of the so-called Multi-Joint will be determined in a closed-form solution. Next, the reachable and suitable workspace will be worked out to determine the solution space of the inverse kinematics. Finally, the differential kinematics to compute the cartesian velocity and statics will be determined.
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页数：6
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