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Tham khảo tài liệu 'advances in robot kinematics - jadran lenarcic and bernard roth (eds) part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Design of Mechanisms W.A. Khan S. Caro D. Pasini J. Angeles Complexity analysis for the conceptual design of robotic architecture 359 D.V. Lee S.A. Velinsky Robust three-dimensional non-contacting angular motion sensor 369 K. Brunnthaler H.-P. Schrocker M. Husty Synthesis of spherical four-bar mechanisms using spherical kinematic mapping 377 R. Vertechy V. Parenti-Castelli Synthesis of 2-DOF spherical fully parallel mechanisms 385 G.S. Soh J.M. McCarthy Constraint synthesis for planar n-R robots 395 T. Bruckmann A. Pott M. Hiller Calculating force distributions for redundantly actuated tendon-based Stewart platforms 403 P. Boning S. Dubowsky A study of minimal sensor topologies for space robots 413 M. Callegari M.-C. Palpacelli Kinematics and optimization of the translating 3-CCR 3-RCC parallel mechanisms 423 COMPLEXITY ANALYSIS FOR THE CONCEPTUAL DESIGN OF ROBOTIC ARCHITECTURES Waseem A. Khan Stephane Caro Damiano Pasini Jorge Angeles Department of Mechanical Engineering McGill University 817 Sherbrooke St. West Montreal QC Canada H3A 2K6 wakhan caro @cim.mcgill.ca damiano.pasini@mcgill.ca angeles@cim.mcgill.ca Abstract We propose a formulation capable of measuring the complexity of kinematic chains at the conceptual stage in robot design. As an example two realizations of the Schonflies displacement subgroup are compared. Keywords Conceptual design complexity kinematic chains displacement subgroups 1. Introduction We propose here a formulation capable of measuring the complexity of the kinematic chains of robotic architectures at the conceptual-design stage. The motivation lies in providing an aid to the robot designer when selecting the best design alternative among various candidates at the early stages of the design process when a parametric design is not yet available. In this paper the complexity of three lower kinematic pairs LKPs the revolute the prismatic and the cylindrical pairs is first obtained. Then a formulation to measure the complexity of .
