A new mechanism structure and kinematics solution for continuous robot

Author

Chunxia Zhang ; Jianghai Zhao ; Chuanqi Wang ; Jian Fang

Author_Institution

Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

757

Lastpage

761

Abstract

Inspired by the motion mechanism of the trunk, a novel mechanism for the continuous robot is proposed in this paper. As the research of biological organization of the trunk, a continuous robot with two continuous joints and two discrete joints is constructed in this research. The geometric analysis-method (GAM) based on D-H parameter correction method for the kinematics of this mechanism is also proposed in this paper. The continuous joint in this robot has two degree of freedom (DOF) which pitching and rotation DOF, respectively. To verify the effectiveness of the GAM, the simulation results are shown in the end of this paper.

Keywords

geometry; motion control; robot kinematics; D-H parameter correction method; DOF; GAM; biological organization; continuous robot; degree of freedom; geometric analysis method; kinematics solution; mechanism structure; motion mechanism; trunk; Automation; Conferences; Joints; Kinematics; Manipulators; Robot sensing systems; GAM; bionic continuous joints; discrete joints combine; trunk arm;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885792

Filename

6885792