A novel concentric multilink spherical joint with parallel robotics applications

A novel concentric multilink spherical joint with parallel robotics applications

A new spherical joint mechanism which is well suited to parallel robotics is presented. The concentric multilink spherical (CMS) joint allows two or more struts to be connected together such that they rotate about a single point. This joint can replace the traditional ball or universal (Hooke) joint...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Hamlin, G.J., Sanderson, A.C.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Application software
Collision mitigation
Computational geometry
Couplings
Fasteners
Hydraulic actuators
Kinematics
Legged locomotion
Manipulators
Parallel robots
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 1272 vol.2
container_issue
container_start_page 1267
container_title
container_volume
creator Hamlin, G.J.
Sanderson, A.C.
description A new spherical joint mechanism which is well suited to parallel robotics is presented. The concentric multilink spherical (CMS) joint allows two or more struts to be connected together such that they rotate about a single point. This joint can replace the traditional ball or universal (Hooke) joints in Stewart platforms, variable geometry truss manipulators, and other parallel robots. The TETRA2 robot consists of five nodes and six actuated struts. It provides a range of motion of 1m/spl times/0.5m/spl times/0.5m and has lifted a payload of 10 kg at full lateral extension. Simulation of a 48 struct walking robot illustrates the use of CMS joints to design more complex structures. The simulation also demonstrates new algorithms for parallel robot control.< >
doi_str_mv 10.1109/ROBOT.1994.351313
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_351313</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>351313</ieee_id><sourcerecordid>351313</sourcerecordid><originalsourceid>FETCH-LOGICAL-i172t-6921b05c7c0195f73bda38f48be615b0cc913e586e3cd57e959bc350c153f2773</originalsourceid><addsrcrecordid>eNotj8FKAzEYhAMiqLUPoKe8wK759282ybEWtUJhReq5JGmWpqbJsomKb-9CncvA8M3AEHIHrAZg6uG9e-y2NSi1qJEDAl6QGyZBthyRNVdknvORTeJcilZdk7cljenbBWpTtC6W0Vt6-grFBx8_aR4Obkp0oMfkY6E_vhzooEcdwlQZk0nF20z1MISJKj7FfEsuex2ym__7jHw8P21X62rTvbyulpvKg2hK1aoGDONWWAaK9wLNXqPsF9K4Frhh1ipAx2Xr0O65cIorY5EzCxz7RgickfvzrnfO7YbRn_T4uzt_xj_DXE4U</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>A novel concentric multilink spherical joint with parallel robotics applications</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Hamlin, G.J. ; Sanderson, A.C.</creator><creatorcontrib>Hamlin, G.J. ; Sanderson, A.C.</creatorcontrib><description>A new spherical joint mechanism which is well suited to parallel robotics is presented. The concentric multilink spherical (CMS) joint allows two or more struts to be connected together such that they rotate about a single point. This joint can replace the traditional ball or universal (Hooke) joints in Stewart platforms, variable geometry truss manipulators, and other parallel robots. The TETRA2 robot consists of five nodes and six actuated struts. It provides a range of motion of 1m/spl times/0.5m/spl times/0.5m and has lifted a payload of 10 kg at full lateral extension. Simulation of a 48 struct walking robot illustrates the use of CMS joints to design more complex structures. The simulation also demonstrates new algorithms for parallel robot control.&lt; &gt;</description><identifier>ISBN: 0818653302</identifier><identifier>ISBN: 9780818653308</identifier><identifier>DOI: 10.1109/ROBOT.1994.351313</identifier><language>eng</language><publisher>IEEE Comput. Soc. Press</publisher><subject>Application software ; Collision mitigation ; Computational geometry ; Couplings ; Fasteners ; Hydraulic actuators ; Kinematics ; Legged locomotion ; Manipulators ; Parallel robots</subject><ispartof>Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1994, p.1267-1272 vol.2</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/351313$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,4050,4051,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/351313$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Hamlin, G.J.</creatorcontrib><creatorcontrib>Sanderson, A.C.</creatorcontrib><title>A novel concentric multilink spherical joint with parallel robotics applications</title><title>Proceedings of the 1994 IEEE International Conference on Robotics and Automation</title><addtitle>ROBOT</addtitle><description>A new spherical joint mechanism which is well suited to parallel robotics is presented. The concentric multilink spherical (CMS) joint allows two or more struts to be connected together such that they rotate about a single point. This joint can replace the traditional ball or universal (Hooke) joints in Stewart platforms, variable geometry truss manipulators, and other parallel robots. The TETRA2 robot consists of five nodes and six actuated struts. It provides a range of motion of 1m/spl times/0.5m/spl times/0.5m and has lifted a payload of 10 kg at full lateral extension. Simulation of a 48 struct walking robot illustrates the use of CMS joints to design more complex structures. The simulation also demonstrates new algorithms for parallel robot control.&lt; &gt;</description><subject>Application software</subject><subject>Collision mitigation</subject><subject>Computational geometry</subject><subject>Couplings</subject><subject>Fasteners</subject><subject>Hydraulic actuators</subject><subject>Kinematics</subject><subject>Legged locomotion</subject><subject>Manipulators</subject><subject>Parallel robots</subject><isbn>0818653302</isbn><isbn>9780818653308</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1994</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8FKAzEYhAMiqLUPoKe8wK759282ybEWtUJhReq5JGmWpqbJsomKb-9CncvA8M3AEHIHrAZg6uG9e-y2NSi1qJEDAl6QGyZBthyRNVdknvORTeJcilZdk7cljenbBWpTtC6W0Vt6-grFBx8_aR4Obkp0oMfkY6E_vhzooEcdwlQZk0nF20z1MISJKj7FfEsuex2ym__7jHw8P21X62rTvbyulpvKg2hK1aoGDONWWAaK9wLNXqPsF9K4Frhh1ipAx2Xr0O65cIorY5EzCxz7RgickfvzrnfO7YbRn_T4uzt_xj_DXE4U</recordid><startdate>1994</startdate><enddate>1994</enddate><creator>Hamlin, G.J.</creator><creator>Sanderson, A.C.</creator><general>IEEE Comput. Soc. Press</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1994</creationdate><title>A novel concentric multilink spherical joint with parallel robotics applications</title><author>Hamlin, G.J. ; Sanderson, A.C.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i172t-6921b05c7c0195f73bda38f48be615b0cc913e586e3cd57e959bc350c153f2773</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1994</creationdate><topic>Application software</topic><topic>Collision mitigation</topic><topic>Computational geometry</topic><topic>Couplings</topic><topic>Fasteners</topic><topic>Hydraulic actuators</topic><topic>Kinematics</topic><topic>Legged locomotion</topic><topic>Manipulators</topic><topic>Parallel robots</topic><toplevel>online_resources</toplevel><creatorcontrib>Hamlin, G.J.</creatorcontrib><creatorcontrib>Sanderson, A.C.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Hamlin, G.J.</au><au>Sanderson, A.C.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A novel concentric multilink spherical joint with parallel robotics applications</atitle><btitle>Proceedings of the 1994 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1994</date><risdate>1994</risdate><spage>1267</spage><epage>1272 vol.2</epage><pages>1267-1272 vol.2</pages><isbn>0818653302</isbn><isbn>9780818653308</isbn><abstract>A new spherical joint mechanism which is well suited to parallel robotics is presented. The concentric multilink spherical (CMS) joint allows two or more struts to be connected together such that they rotate about a single point. This joint can replace the traditional ball or universal (Hooke) joints in Stewart platforms, variable geometry truss manipulators, and other parallel robots. The TETRA2 robot consists of five nodes and six actuated struts. It provides a range of motion of 1m/spl times/0.5m/spl times/0.5m and has lifted a payload of 10 kg at full lateral extension. Simulation of a 48 struct walking robot illustrates the use of CMS joints to design more complex structures. The simulation also demonstrates new algorithms for parallel robot control.&lt; &gt;</abstract><pub>IEEE Comput. Soc. Press</pub><doi>10.1109/ROBOT.1994.351313</doi></addata></record>
fulltext fulltext_linktorsrc
identifier ISBN: 0818653302
ispartof Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 1994, p.1267-1272 vol.2
issn
language eng
recordid cdi_ieee_primary_351313
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Application software
Collision mitigation
Computational geometry
Couplings
Fasteners
Hydraulic actuators
Kinematics
Legged locomotion
Manipulators
Parallel robots
title A novel concentric multilink spherical joint with parallel robotics applications
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-26T18%3A48%3A50IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=A%20novel%20concentric%20multilink%20spherical%20joint%20with%20parallel%20robotics%20applications&rft.btitle=Proceedings%20of%20the%201994%20IEEE%20International%20Conference%20on%20Robotics%20and%20Automation&rft.au=Hamlin,%20G.J.&rft.date=1994&rft.spage=1267&rft.epage=1272%20vol.2&rft.pages=1267-1272%20vol.2&rft.isbn=0818653302&rft.isbn_list=9780818653308&rft_id=info:doi/10.1109/ROBOT.1994.351313&rft_dat=%3Cieee_6IE%3E351313%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=351313&rfr_iscdi=true