Sensory redundant parallel mobile mechanism
Sensory redundant parallel mobile mechanism
复制标题
感觉冗余并联移动机构
DOI：
10.1109/robot.2001.932961
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
M. Shoham
中科院分区：
文献类型：
--
作者：
S. Shoval;M. Shoham
提出了一种基于并联机构运动学的新型移动的机器人设计方法。该机器人由3条腿组成，每条腿都配有异步驱动单元。支腿通过球形接头连接到驱动单元，并通过旋转接头连接到上板。三个附加的编码器，连接到上旋转关节提供冗余数据。该数据被运动学模型用于精确估计机器人在空间中的配置和位置，即使在粗糙的地形中，传统的测距法也无法实现。仿真结果表明了该设计的优点，并提出了一种方法，在未知的环境中检测表面的不规则性。
This paper presents a novel design for a mobile robot based on the kinematics of parallel mechanisms. The robot consists of 3 legs, each equipped with an asynchronous driving unit. The legs are connected to the driving units with spherical joints and to the upper plate with a revolute joint. Three additional encoders, attached to the upper revolute joints provide redundant data. This data is used by a kinematic model for accurate estimation of the robot's configuration and position in space, even in rough terrains, where conventional odometry fails. Simulation results show the advantages of the design, and suggest a method for detection of irregularities of surfaces in unknown environments.