Publication

Hanyang University HumanRobotics Lab

International Conference
A mobility analysis method of closed-chain mechanisms with over-constraints and non-holonomic constraints
Conference
IEEE International Conference on Robotics and Automation
Author
W. Kim, K. Choi, and B.-J. Yi
Year
2004
Date
2004.04.26
File
[2004]A Mobility Analysis Method for Closed-chain Mechanisms with Over-constrains and Non-holonomic Constraints.pdf (472.4K) 0회 다운로드 DATE : 2020-10-17 21:16:34
Mobility for a great portion of robot mechanisms having over-constraint and non-holonomic constraints has not been clearly identified. This work us to introduce a method of mobility analysis for such systems using the concept of representative screws and pseudo-joint. The pseudo-joint is employed to effectively represent the real motion trajectory due to the rolling contact of the wheel. To show the validity and effectiveness of the proposed method, mobility of various types of planar mobile robots having over-constraint and non-holonomic constrains are examined.