Use of Serial Planar Linkages for an Augmented R-CUBE Mechanism with Six Degrees of Freedom

Terence Essomba, Yu Wen Wu, Med Amine Laribi

研究成果: 書貢獻/報告類型會議論文篇章同行評審

摘要

The present study shows the augmentation of the three Degrees of Freedom (DoF) translational R-CUBE into a six-DoF mechanism. To increase its number of DoF, each leg has their distal linkage modified to fully exploit the planar kinematics they rely on and one more active joint is added. In total, three angular DoF are added to the mechanism. Since they are several possible serial linkages for planar motion, several types of augmented R-CUBE can be assembled. A general form of the uniformized velocity model is given for this new mechanism. For each type of distal linkage, the inverse kinematic model is derived and differential kinematics is then used to complete the expression of the velocity model.

原文???core.languages.en_GB???
主出版物標題New Advances in Mechanisms, Transmissions and Applications - Proceedings of the 6th MeTrApp Conference, 2023
編輯Med Amine Laribi, Carl A. Nelson, Marco Ceccarelli, Saïd Zeghloul
發行者Springer Science and Business Media B.V.
頁面297-305
頁數9
ISBN(列印)9783031298141
DOIs
出版狀態已出版 - 2023
事件6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, MeTrApp 2023 - Poitiers, France
持續時間: 24 5月 202326 5月 2023

出版系列

名字Mechanisms and Machine Science
124 MMS
ISSN(列印)2211-0984
ISSN(電子)2211-0992

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???event.eventtypes.event.conference???6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, MeTrApp 2023
國家/地區France
城市Poitiers
期間24/05/2326/05/23

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