並列構造を持つ球面手首の設計：ウナギ型ロボットの椎骨への応用
Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot
ウナギ型ロボットの椎骨関節として使うため、コンパクトで対称な並列構造の球面手首を設計し、特異姿勢と等方姿勢を運動学的に解析した。
著者: Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of immersed piping. The kinematic analysis of the mechanism is presented first to characterize the singular configurations as well as the isotropic configurations. We add the design constraints related to the application, such as (i) the compactness of the mechanism, (ii) the symmetry of the elements in order to ensure static and dynamic balance and (iii) the possibility of the mechanism to fill the elliptic form of the ell sections.
