MORPHOLOGICAL CHOICE OF PLANAR MECHANISMS IN ROBOTICS

Peter Mitrouchev

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Paper

MORPHOLOGICAL CHOICE OF PLANAR MECHANISMS IN ROBOTICS

Topics: Robot Design, Development and Control

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 193-200, 2004 , Setúbal, Portugal

Author: Peter Mitrouchev

Affiliation: Integrated Design Centre, "Sols, Solids, Structures - 3S" Laboratory, France

Keyword(s): Robot design, architecture, plan mechanisms, morphology.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: In this paper a morphological confined choice for kinematic mechanisms in robotics is presented. It is based on symmetries of structures. Pairs of groups of mutually symmetrical mechanisms are detected. Thus, the number of possible configurations is confined by eliminating the symmetrical ones. Different cases of symmetries have been studied. Expressions for the calculation of the number of frames and end-effectors are presented. It enables the reduction of the number of structures by avoiding those that are isomorphic. Following this, examples for applications for various kinematic structures are presented, enabling the field of research to be restricted to the possible solutions.

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Paper citation in several formats:

Mitrouchev, P. (2004). MORPHOLOGICAL CHOICE OF PLANAR MECHANISMS IN ROBOTICS. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 193-200. DOI: 10.5220/0001139801930200

@conference{icinco04,
author={Peter Mitrouchev.},
title={MORPHOLOGICAL CHOICE OF PLANAR MECHANISMS IN ROBOTICS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2004},
pages={193-200},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001139801930200},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - MORPHOLOGICAL CHOICE OF PLANAR MECHANISMS IN ROBOTICS
SN - 972-8865-12-0
IS - 2184-2809
AU - Mitrouchev, P.
PY - 2004
SP - 193
EP - 200
DO - 10.5220/0001139801930200
PB - SciTePress