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| HAL : hal-00465527, version 1 |
| Fiche détaillée |  Récupérer au format |
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| 10th International Symposium on Advances in Robot Kinematics, Ljubljana : Slovenia (2006) |
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| Complexity-Based Rules for the Conceptual Design of Robotic Architectures |
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Waseem A. Khan 1Stéphane Caro 2 |
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| (25/06/2006) |
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| We propose a formulation capable of measuring the complexity of kinematic chains at the conceptual stage in robot design. First, the complexity of the three basic lower kinematic pairs, the revolute, the prismatic and the cylindrical pairs, is proposed. Then, a formulation of the complexity of kinematic chains is introduced. Next, the complexity of the basic displacement subgroups generated by the lower kinematic pairs is established. Finally, as an example, two realizations of the Schönflies displacement subgroup are compared. |
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| 1 : | Centre for Intelligent Machines (CIM) |
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McGill University |
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| 2 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Domaine | : | Sciences de l'ingénieur/Electronique |
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| Conceptual Design – Complexity – Kinematic Chains – Displacement Subgroups |
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| Liste des fichiers attachés à ce document : | ||||||||||
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| hal-00465527, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00465527 | |
| oai:hal.archives-ouvertes.fr:hal-00465527 | |
| Contributeur : Stéphane Caro | |
| Soumis le : Vendredi 19 Mars 2010, 16:48:32 | |
| Dernière modification le : Vendredi 19 Mars 2010, 16:58:57 | |
