4. Geometric-static model of a continuous parallel robot
This section describes how to calculate the geometric-static model of the RPC, i.e. the model that relates the geometry (elastic deformations) of the robot to the static forces applied to it.
4.1 Kinematic description of the RPCs studied
The generic architecture of the RPC considered in the remainder of this article is shown in figure 11 : it is a robot composed of flexible rods (called "legs"). The proximal end of the rods is connected to a motor at the following points ...
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Geometric-static model of a continuous parallel robot
Study of configuration stability
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Bibliography
- (1) - BRUYAS (A.), GEISKOPF (F.), RENAUD (P.) - Toward unibody robotic structures with integrated functions using multimaterial additive manufacturing: Case study of an MRI-compatible interventional device. - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) p. 1744–1750, September 2015.
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