A new concept of self-reconfigurable mobile machining centers

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URI: https://hdl.handle.net/11556/2216
ISBN: 9781424466757
DOI: 10.1109/IROS.2010.5652232
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2010
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Abstract
In this paper, several considerations for designing industry oriented robots which combine the mobility of legged robots and advantages of parallel mechanisms are outlined. A tripod and a quadruped with the same kind of legs are studied. The robots' kinematic models are built for achieving the machining and walking scenarios. The simulations show that: integrating some clamping devices and some lockable passive joints, six actuators are enough to build a legged manipulator which can not only perform 6-axis machining but can also walk on a curved supporting media. Using the "modified condition number" index, the two mechanisms are compared. They have similar workspaces and static wrench performances during the machining phase. During walking processes, however, their behaviors are different, and each of them shows interesting features depending on application requirement.
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Artificial Intelligence , Human-Computer Interaction , Control and Systems Engineering , SDG 9 - Industry, Innovation, and Infrastructure
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conference output
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Yang , H , Krut , S , Baradat , C & Pierrot , F 2010 , A new concept of self-reconfigurable mobile machining centers . in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings . , 5652232 , IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings , pp. 2784-2791 , 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 , Taipei , Taiwan, Province of China , 18/10/10 . https://doi.org/10.1109/IROS.2010.5652232
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