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Xu Mingtao
Department of Mechanics,
Chongqing University,
Chongqing 400044, China
Xu Yangsheng
Department of Automation and
Computer-Aided Engineering,
The University of Hong Kong,
Hong Kong, China
James
K. Mills
Department of Mechanical and
Industrial Engineering,
University of Toronto,
Toronto, Canada
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STATE TRANSFORMATION PROCESSES FOR
FREE-FLOATING THREE-LINK PLANAR ROBOTS
Abstract:
The transformation process of an m-DOF free-floating robot from one static state to a different static state has m degrees of freedom. The proposed approach of these transformations utilizes a series of single-DOF transformation processes as an alternative to the m-DOF transformation process. Two static state transformation processes are studied in detail. First, a single-DOF transformation process is established using a newly defined concept, referred to as transformation planning, and the definite integral of conservation of angular momentum. Second, the governing equation of the single-DOF transformation process is established using the dynamic equations of motion of the robot. This allows the joint torques to be computed to effect the state transformation. Finally, an extension of the single-DOF transformation process is proposed to extend the application of this proposed transformation methodology to create a transformation net which allows the reconfiguration of a robot from one state to many other possible states.
Key words: Planar robot Static state Single-DOF transformation process
n-element transformation net
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