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http://hdl.handle.net/2117/15547
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| Citació: | Mirats, J.; Camps, J. A three-dof actuated robot. "IEEE robotics and automation magazine", 2011, vol. 18, núm. 3, p. 96-103. |
| Títol: | A three-dof actuated robot |
| Autor: | Mirats Tur, Josep Maria  ; Camps Sala, Josep |
| Data: | 2011 |
| Tipus de document: | Article |
| Resum: | This article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed robot. After a detailed implementation description of the physical robot, some trajectories within its workspace are analyzed. Although our long-term objective is to provide mobile tensegrity-based robots to the community, this work studies a case in which the robot is anchored to the ground. This provides us with a first insight of how these structures should be actuated and sensed to produce movement. |
| ISSN: | 1070-9932 |
| URI: | http://hdl.handle.net/2117/15547 |
| Versió de l'editor: | 10.1109/MRA.2011.940991 |
| Versió de l'editor: | http://dx.doi.org/10.1109/MRA.2011.940991 |
| Apareix a les col·leccions: | Altres. Enviament des de DRAC
Institut de Robòtica i Informàtica Industrial, CSIC-UPC. Articles de revista
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