03-10-2016, 10:26 AM
1457420266-PKMasClimbingRobot.ppt (Size: 4.42 MB / Downloads: 41)
Why using a PKM as Climbing Robot?
Control
Pneumatic actuators looks like a good and economical solution for our needs, but the control is more complicated.
Path planning
We have to consider:
-Singularities
-Self collisions
-Joint limits
Performance Study
Dynamics Simulations
From this kind of studies it is more clear which postures are the best from the dynamic point of view
The dynamic performance of the CPR is affected by the magnitude of its displacement sequence and payload, but more strongly by the velocity.
Conclusions
A study of the performance of a parallel robot adapted to climb on structural frames was presented.
The PKM’s have a big potential to being used as a climbing robot.