A self-reconfigurable dual-arm system
A self-reconfigurable dual-arm system
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自重构双臂系统
DOI：
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发表时间：
1991
期刊：
影响因子：
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通讯作者：
Sungbok Kim
中科院分区：
文献类型：
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作者：
Sukhan Lee;Sungbok Kim
提出了一种根据任务要求动态改变拓扑结构的自重构机械臂系统的设计方法。所提出的自重构不同于传统的可重构机器人，因为它不需要更换和重新组装模块化的链接，以建立一个理想的机械结构的机器人，但它定制了一个多冗余机械手系统，通过重新配置其机械结构，通过串联，并联，支撑机构的多臂合作。作者提出了一种方法，产生串行，并行和支撑结构的自重构双臂系统的基础上的可操作性和灵活性。这样的可操作性和灵活性量化了自重构双臂系统在产生笛卡尔运动和静态力方面的效率和能力，从而提供了定制适合于给定任务的双臂拓扑结构所必需的信息。给出了一个算例。<<ETX>>
An approach to a self-reconfigurable manipulator system which dynamically changes its topology according to given task requirements is presented. The proposed self-reconfiguration differs from that of conventional reconfigurable robots, in that it does not need to replace and reassemble modularized links to build a robot of desirable mechanical structure, but it customizes a multiple redundant manipulator system by reconfiguring its mechanical structure through serial, parallel, and bracing mechanisms of multiple arm cooperation. The authors present a methodology of generating serial, parallel, and bracing structures for a self-reconfigurable dual-arm system based on manipulabilities and resistivities. Such manipulabilities and resistivities quantify the efficiency and capability of a self-reconfigurable dual-arm system in generating the Cartesian motion and static force, thereby providing information essential to customizing a dual-arm topology suitable for a given task. An example is presented.<<ETX>>