Motion planning of a climbing parallel robot
Author
Almonacid Kroeger, Miguel; Saltarén Pazmiño, Roque Jacinto; Aracil Santonja, Rafael; Reinoso García, ÓscarKnowledge Area
Ingeniería de Sistemas y AutomáticaSponsors
This 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.Publication date
2003-06Publisher
IEEE Robotics and Automation SocietyBibliographic Citation
ALMONACID, 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 1042-296XKeywords
Robot de escaladaRobot paralelo
Planificación de ruta
Plataforma Stewart
Climbing robot
Parallel robot
Path planning
Stewart planning
Abstract
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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