Title :
Workspace determination of a chameleon-like space service robot with planar configurations
Author :
Li, Tao ; Li, Hui ; Ceccarelli, Marco ; Huang, Qiang ; Dong, Que
Author_Institution :
LARM: Lab. of Robot. & Mechatron., Univ. of Cassino, Cassino, Italy
Abstract :
The chameleon-like robot is a new designed robot especially for working in space station environment. While working in this environment, the robot can work in planar configurations. This paper focuses on the workspace determination of this chameleon-like robot with its planar configurations. For this purpose, a geometric approach is used. Formulations and an algorithm have been outlined and implemented for generation and computation of the workspace. Several numerical examples are presented with different design parameters for analyzing the operation performance of this chameleon-like robot.
Keywords :
aerospace robotics; service robots; chameleon-like space service robot; geometric approach; planar configuration; space station environment; workspace determination; Equations; Joints; Legged locomotion; Manipulators; Mathematical model; Robot kinematics;
Conference_Titel :
Robotics, Automation and Mechatronics (RAM), 2011 IEEE Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-61284-252-3
DOI :
10.1109/RAMECH.2011.6070480