Algebro-geometric techniques in kinematics of robots

机器人运动学中的代数几何技术

• 批准号: 1965756
• 金额: --
• 依托单位: Loughborough University
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2017
• 资助国家: 英国
• 起止时间: 2017 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-1965756
• 关键词: Algebro; geometric; techniques; kinematics; robots

The project involves a detailed study of robot closed linkages with 6 arms. These objects consist of 6 arms forming a closed chain connected via joints that rotate or have screw motion. It is known that a random such linkages is rigid. A crucial question is to classify all such linkages that are non-rigid, as they are useful in engineering and cost effective as 6 is the optimal number for such models.Algebro-Geometric techniques have guided the study of linkages with rotational joints. The project will develop new (algebraic) techniques that deal with screw motion of the joints. The project is fundamentally interdisciplinary, as it uses modern machinery of algebra and geometry to tackle theoretical questions in robotics with potential applications in engineering.

该项目涉及到一个详细的研究机器人封闭的六臂连杆机构。这些物体由6个臂组成，形成通过旋转或螺旋运动的关节连接的闭合链。已知的是，随机的这种连接是刚性的。一个关键的问题是分类所有这样的联系，是非刚性的，因为它们是有用的，在工程和成本效益为6是最佳的数字为这样的models.Algebro几何技术指导的研究与旋转关节的联系。该项目将开发新的（代数）技术，处理螺旋运动的关节。该项目基本上是跨学科的，因为它使用现代代数和几何机器来解决机器人技术中的理论问题，并在工程中有潜在的应用。

项目成果

Classification of higher mobility closed-loop linkages

高机动性闭环连杆机构的分类

• DOI: 10.1007/s10231-022-01258-y
• 发表时间: 2022
• 期刊: Annali di Matematica Pura ed Applicata (1923 -)
• 作者: Duarte Guerreiro T