Abstract This chapter describes a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by n R b RPS serial chains, with n < 6 . Only the prismatic joints are actuated and the first revolute joint in each chain can be locked or released during operation. It will be shown how the introduction of these lockable joints allow the prismatic actuators to maneuver to approximate 6-degrees-of-freedom motions for the moving platform. An algorithm for generating these maneuvers is also described. Then, a motion planner, based on the generation of a probabilistic road map, whose nodes are connected using the described maneuvers, is presented. The generated trajectories are also designed to avoid both singularities and possible collisions between legs. Part of the work presented in this chapter appeared in [8].


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Parallel Robots with Lockable Revolute Joints


    Contributors:


    Publication date :

    2019-01-01


    Size :

    16 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints

    Grosch, Patrick / Gregorio, Raffaele di / López, Javier et al. | BASE | 2010

    Free access

    Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints

    Grosch Obregon, Patrick John / Gregorio, Raffaele di / López, Javier et al. | BASE | 2010

    Free access

    OMNIDIRECTIONAL VEHICLE WITH PASSIVE REVOLUTE JOINTS

    LASA AGUIRREBENGOA JOSEBA / IRIARTE ARRESE IMANOL / IGLESIAS AGUINAGA IÑAKI | European Patent Office | 2023

    Free access

    OMNIDIRECTIONAL VEHICLE WITH PASSIVE REVOLUTE JOINTS

    LASA AGUIRREBENGOA JOSEBA / IRIARTE ARRESE IMANOL / IGLESIAS AGUINAGA IÑAKI | European Patent Office | 2023

    Free access

    Nonlinear Character of Revolute Joints with Clearances

    Liu, R. / Zhang, J. / Guo, H. et al. | British Library Conference Proceedings | 2012