Forward kinematics equations of a 3-dof hybrid PM for underwater camera active support

Author

Zoppi, M. ; Molfino, R.M.

Author_Institution

PMAR Robot Design Res. Group, Genova Univ., Italy

fYear

2005

fDate

23-25 June 2005

Firstpage

231

Lastpage

236

Abstract

The paper presents a 3-dof hybrid parallel mechanism architecture, ArmillEye, providing one translational and two rotational freedoms. A fully parametric, analytical model of the forward position problem is proposed and the possible assembly modes are discussed. ArmillEye has been selected as an agile camera support mechanism to be used onboard an underwater robot developed for the disposal of off-shore installations. Compared to other parallel mechanisms, ArmillEye has exactly the mobility required for the task foreseen and its geometry can be chosen in order to have a tilt-pan-zoom mobility with the tilt independent from the pan and the zoom, which results advantageous for underwater vision. The links of the legs can be easily shaped to achieve a low hydrodynamic resistance so that the mechanism can be very agile underwater.

Keywords

cameras; mobile robots; offshore installations; position control; remotely operated vehicles; robot kinematics; robot vision; underwater vehicles; 3-dof hybrid PM; ArmillEye; agile camera support mechanism; forward kinematics equations; forward position problem; hybrid parallel mechanism architecture; hydrodynamic resistance; off-shore installations; rotational freedom; tilt-pan-zoom mobility; translational freedom; underwater camera active support; underwater robot; underwater vision; Analytical models; Cameras; Equations; Humans; Hydrodynamics; Kinematics; Marine vehicles; Parallel robots; Robot vision systems; Robotic assembly;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on

Print_ISBN

83-7143-266-6

Type

conf

DOI

10.1109/ROMOCO.2005.201429

Filename

1554408