RT Conference Proceedings
T1 A new concept of self-reconfigurable mobile machining centers
A1 Yang, Hai
A1 Krut, Sébastien
A1 Baradat, Cédric
A1 Pierrot, François
AB 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.
SN 9781424466757
YR 2010
FD 2010
LK https://hdl.handle.net/11556/2216
UL https://hdl.handle.net/11556/2216
LA eng
NO 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
NO conference
DS TECNALIA Publications
RD 28 jul 2024