Motion planning of a climbing parallel robot
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AuthorAlmonacid Kroeger, Miguel; Saltarén Pazmiño, Roque Jacinto; Aracil Santonja, Rafael; Reinoso García, Óscar
Knowledge AreaIngeniería de Sistemas y Automática
SponsorsThis paper was recommended for publication by Associate Editor M. Shoham and Editor I. Walker upon evaluation of the reviewers’ comments. This work was supported by the Spanish Ministry of Education and Culture under Project 1FD1997-1338.
PublisherIEEE Robotics and Automation Society
Bibliographic CitationALMONACID, M., SALTARÉN, R. J., ARACIL, R., REINOSO, O. Motion Planning of a Climbing Parallel Robot. IEEE Transactions on Robotics and Automation, 19 (3): 485-489, Junio 2003. ISSN 1042-296X
KeywordsRobot de escalada
Planificación de ruta
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.
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