Publication

Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2010

Pages

4697-4702

Doc link

http://dx.doi.org/10.1109/ROBOT.2010.5509305

File

Download the digital copy of the doc pdf document

Abstract

This paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having RRPS (Revolute-Revolute-Prismatic-Spherical) topology. Only the prismatic joint is actuated and the first revolute joint in the chain can be locked or released online. The introduction of these lockable joints allow the prismatic actuators to maneuver to approximate 6-DoF motions for the moving platform. An algorithm for generating these maneuvers is first described. Then, a motion planner, based on the generation of a Probabilistic RoadMap (PRM) whose nodes are connected using the described maneuvers, is presented. The generated trajectories avoid singularities and possible collisions between legs.

Categories

industrial robots, robot dynamics, robot kinematics.

Scientific reference

P. Grosch, R. Di Gregorio, J. Lopez and F. Thomas. Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints, 2010 IEEE International Conference on Robotics and Automation, 2010, Anchorage, pp. 4697-4702.