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Design of cooperating spherical RPR robots

P.M. Larochelle
Proceedings of International Conference on Robotics and Automation  

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This paper uses the kinematic mapping into the image space of spherical displacements to design a cooperating spherical robot system for workpiece orientating. The kinematic chain formed by the cooperating robots grasping the workpiece forms a multi degree of freedom closed chain which is also known as a robotic mechanism. The spherical robots considered are spherical RPR open chains and they rigidly grasp the workpiece to form a 3 degree of freedom closed chain. The design problem considered
more » ... to determine the base locations and grasp points that enable the cooperating robots to guide a workpiece through an arbitrary number of desired orientations. A n example of the design of a cooperating spherical RPR robot system for six(6) desired orientations is presented.
doi:10.1109/robot.1997.619275 dblp:conf/icra/Larochelle97 fatcat:pgs6ls7tcjfxrefaexd3dg4afu
Citation

P.M. Larochelle. "Design of cooperating spherical RPR robots." Proceedings of International Conference on Robotics and Automation 2115-2120