TY - JOUR 
A1 - Almonacid Kroeger, Miguel
AU - Saltarén Pazmiño, Roque Jacinto
AU - Aracil Santonja, Rafael
AU - Reinoso García, Óscar
T1 - Motion planning of a climbing parallel robot
Y1 - 2003
SN - 1042-296X
UR - http://hdl.handle.net/10317/1054
AB - 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.
KW - Ingeniería de Sistemas y Automática
KW - Robot de escalada
KW - Robot paralelo
KW - Planificación de ruta
KW - Plataforma Stewart
KW - Climbing robot
KW - Parallel robot
KW - Path planning
KW - Stewart planning
LA - eng
PB - IEEE Robotics and Automation Society
ER -