Cart (Loading....) | Create Account
Close category search window
 

4R and 5R parallel mechanism mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Yamawaki, T. ; Dept. of Mechano-Micro Eng., Tokyo Inst. of Technol., Kanagawa, Japan ; Omata, T. ; Mori, O.

We have proposed a self-reconfigurable parallel robot, which can be configured to 4R and 5R closed kinematic chains. This paper proposes a parallel mechanism mobile robot by mounting it on a crawler mechanism. The combined mobile robot gains some useful functionalities other than just locomotion as an advantage of its parallel mechanism, such as getting over a bump by controlling its center of gravity and carrying an object by making use of its shape. Furthermore, the robot can form three-dimensional structures with other such robots and reach a certain height which the single one cannot. We have developed two such robots that are self-contained. This paper analyzes the motions of the functionalities and verifies them experimentally using the robots.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:4 )

Date of Conference:

April 26-May 1, 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.