Integration of parallel arm and leg mechanism

Tatsuo Arai*, Hironori Adachi, Keiko Homma, Noriho Koyachi

*此作品的通讯作者

科研成果: 会议稿件论文同行评审

2 引用 (Scopus)

摘要

An excavation robot is required to build a large scale underground dome. The excavation robot is developed which is composed of a parallel manipulator and four leg locomotion machine. Although the parallel manipulator has a nice feature of producing large force required for the excavation, cooperative control should be considered to achieve effective excavation. This paper discusses integrated kinematics for r legs and parallel arm mechanism for analysis of the mechanism and its control. Based on the derived kinematics, evaluation criteria are introduced in order to design mechanism itself as well as motion controller. Numerical examples show how the proposed methods work effectively to analyze motion of the integrated mechanism.

源语言英语
285-290
页数6
出版状态已出版 - 1995
已对外发布
活动Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
期限: 5 8月 19959 8月 1995

会议

会议Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
Pittsburgh, PA, USA
时期5/08/959/08/95

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引用此

Arai, T., Adachi, H., Homma, K., & Koyachi, N. (1995). Integration of parallel arm and leg mechanism. 285-290. 论文发表于 Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA.