A self-reconfigurable manipulator system with dextrous bracing structure
A self-reconfigurable manipulator system with dextrous bracing structure
复制标题
具有灵巧支撑结构的自重构机械臂系统
DOI：
--
复制
发表时间：
1991
期刊：
影响因子：
--
通讯作者：
S. Kim
中科院分区：
文献类型：
--
作者：
S. Lee;S. Kim
作者提出了一种双臂支撑结构，作为实现自重构机械臂系统的一种手段。双悬臂支撑结构允许双臂系统在两个臂之间重新定位支撑点，选择接触类型作为支撑点，并锁定或释放各个臂的接头。自重构双臂系统现在能够通过串联，并联和支撑结构重新配置其拓扑结构，支持一般类型的接触，刚性或滑动，以及根据需要锁定或释放其一些关节。重点是分析了双臂系统的双臂可操作性和灵活性方面的双臂支撑的性能的影响。分析表明，一个自重构双臂系统的支撑结构，提供了连续变化的性能特性，从串行到并行结构。<<ETX>>
The authors present a dextrous bracing structure of a dual-arm system as a means of implementing a self-reconfigurable manipulator system. The dextrous bracing structure allows a dual-arm system to relocate the bracing point between two arms, select the type of contact as the bracing point, and lock or release the joints of individual arms. The self-reconfigurable dual-arm system is now capable of reconfiguring its topology through serial, parallel and bracing structures, supporting general types of contact, rigid or sliding, as well as locking or releasing some of its joints as needed. The focus is on an analysis of the effects of the dextrous bracing on the performance of a dual-arm system in terms of dual-arm manipulabilities and resistivities. The analysis shows that a self-reconfigurable dual-arm system with a dextrous bracing structure gives continuously varying performance characteristics ranging from serial to parallel structures.<<ETX>>