MORPHOLOGICAL CHOICE OF PLANAR MECHANISMS IN ROBOTICS

Peter Mitrouchev

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.

References

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Paper Citation


in Harvard Style

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, pages 193-200. DOI: 10.5220/0001139801930200


in Bibtex Style

@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},
}


in EndNote Style

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
AU - Mitrouchev P.
PY - 2004
SP - 193
EP - 200
DO - 10.5220/0001139801930200