Kinematics of Trunk-Like Robots with Piezo Actuators
Keywords: trunk-like robot, astronautics, piezo actuator, spherical joint, direct kinematics, inverse kinematics, geometric approach
AbstractThis paper presents the investigation of direct and inverse kinematics for piezo robot with spherical joints. Two different actions of spherical piezo actuators are introduced. Several methods to solve inverse kinematics were analyzed. Geometric approach is chosen for solving inverse kinematics because it has a lot of advantages in accordance to other methods. Theory for defining the solution of the inverse kinematics using the global projections of robot links is presented. A concise algorithm using a proposed approach for the solution of the inverse kinematics is shown.
DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS