Kinematic Modeling and Analysis of a Serial-Parallel Field Robot with Variable Structure
نویسندگان
چکیده
This paper addresses modeling and kinematic analysis of a serial-parallel structure-variable field robot which based on double spirals. Although a few researchers have studied on spiral propulsion mechanism, it is observed in our previous work that the spiral can move forward between gaps of plants and damages to the plants are very little. It can be used to carry measurement devices on investigation of the current state of wetlands. The robot consists of two pairs of spiral pipes and eight 4-DOF manipulators whose grippers handle the spiral pipes. Structure and main features of this double spiral propulsion robot are presented in this paper. The kinematic relations among manipulator’s components are established through D-H method and walking plan is illustrated. To assure normal operation of this spiral propulsion mechanism, the forward and inverse kinematics analyses are presented.
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