%0 Journal Article 
%A Almonacid Kroeger, Miguel
%A Saltarén Pazmiño, Roque Jacinto
%A Aracil Santonja, Rafael
%A Reinoso García, Óscar
%T Motion planning of a climbing parallel robot
%D 2003
%@ 1042-296X
%U http://hdl.handle.net/10317/1054
%X This paper proposes a novel application of the
Stewart–Gough parallel platform as a climbing robot and its kinematics
control to climb through long structures describing unknown
spatial trajectories, such as palm trunks, tubes, etc. First, the description
and design of the climbing parallel robot is presented. Second, the inverse
and forward kinematics analysis of a mobile six-degrees-of-freedom
parallel robot is described, based on spatial constraint formulation.
Finally, the gait pattern and the climbing strategy of the parallel robot is
described. The information from this research is being used in an actual
climbing parallel robot design at Miguel Hernández University of Elche
(Alicante), Spain.
%K Ingeniería de Sistemas y Automática
%K Robot de escalada
%K Robot paralelo
%K Planificación de ruta
%K Plataforma Stewart
%K Climbing robot
%K Parallel robot
%K Path planning
%K Stewart planning
%~ GOEDOC, SUB GOETTINGEN