一种6- DOF提升定位机器人--三剪式伸展器
Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot
摘要：
我们提出了一种新颖的6自由度机器人机构达到高天花板和定位的末端执行器。末端执行器由三个可伸缩机构支撑，这些机构向天花板延伸，6个独立的线性致动器移动各个剪刀的底端。每一个顶点的顶点连接到三个球接头位于三个顶点的顶部三角形板举行的末端执行器。基座上的6个线性致动器的协调运动允许末端执行器以任意方向到达任意位置。三剪式伸缩器的设计概念，其次是运动学建模和分析的逆雅可比矩阵相关的驱动器速度的末端执行器的速度。确定了不同构型的逆雅可比特征值，以表征其运动学特性。一个概念验证原型已经设计和建造。通过实验对用于微分控制的逆雅可比矩阵进行了评估。
英文摘要：
We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of the individual scissors. The top point of each scissor is connected to one of three ball joints located at the three vertices of the top triangular plate holding the end-effector. Coordinated motion of the 6 linear actuators at the base allows the end-effector to reach an arbitrary position with an arbitrary orientation. The design concept of the Triple Scissor Extender is presented, followed by kinematic modeling and analysis of the the Inverse Jacobian relating actuator velocities to the end-effector velocities. The Inverse Jacobian eigenvalues are determined for diverse configurations in order to characterize the kinematic properties. A proof-of-concept prototype has been designed and built. The Inverse Jacobian for use in differential control is evaluated through experiments.
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