Design of cooperating spherical RPR robots

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