Determination of individual foot-placement space for modular platform manipulators

Zhiming Ji; Zhenqun Li

doi:10.1115/DETC98/MECH-5966

Determination of individual foot-placement space for modular platform manipulators

Zhiming Ji, Zhenqun Li

Mechanical and Industrial Engr

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Reconfigurability of a modular platform manipulator makes it possible for the manipulator to adapt to different applications. How should the actual configuration be selected? Practical reconfiguration of platform manipulators can only be achieved when users are provided with information to guide their selection process. This paper defines the foot-placement space and presents a method for determining individual Foot- Placement Spaces (FPSs) for a given set of leg modules, based on a desired workspace. Implementation of construction method for Foot-Placement Space is discussed and illustrated with an example.

Original language	English (US)
Title of host publication	25th Biennial Mechanisms Conference
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791880302
DOIs	https://doi.org/10.1115/DETC98/MECH-5966
State	Published - 1998
Event	ASME 1998 Design Engineering Technical Conferences, DETC 1998 - Atlanta, United States Duration: Sep 13 1998 → Sep 16 1998

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	1A-1998

Conference

Conference	ASME 1998 Design Engineering Technical Conferences, DETC 1998
Country/Territory	United States
City	Atlanta
Period	9/13/98 → 9/16/98

All Science Journal Classification (ASJC) codes

Mechanical Engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Modeling and Simulation

Keywords

Foot-Placement Space
Modular Manipulator
Parallel Platform Manipulator
Reconfiguration

Access to Document

10.1115/DETC98/MECH-5966

Cite this

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title = "Determination of individual foot-placement space for modular platform manipulators",

abstract = "Reconfigurability of a modular platform manipulator makes it possible for the manipulator to adapt to different applications. How should the actual configuration be selected? Practical reconfiguration of platform manipulators can only be achieved when users are provided with information to guide their selection process. This paper defines the foot-placement space and presents a method for determining individual Foot- Placement Spaces (FPSs) for a given set of leg modules, based on a desired workspace. Implementation of construction method for Foot-Placement Space is discussed and illustrated with an example.",

keywords = "Foot-Placement Space, Modular Manipulator, Parallel Platform Manipulator, Reconfiguration",

author = "Zhiming Ji and Zhenqun Li",

note = "Publisher Copyright: {\textcopyright} 1998 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 1998 Design Engineering Technical Conferences, DETC 1998 ; Conference date: 13-09-1998 Through 16-09-1998",

year = "1998",

doi = "10.1115/DETC98/MECH-5966",

language = "English (US)",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

booktitle = "25th Biennial Mechanisms Conference",

}

Ji, Z & Li, Z 1998, Determination of individual foot-placement space for modular platform manipulators. in 25th Biennial Mechanisms Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 1A-1998, American Society of Mechanical Engineers (ASME), ASME 1998 Design Engineering Technical Conferences, DETC 1998, Atlanta, United States, 9/13/98. https://doi.org/10.1115/DETC98/MECH-5966

Determination of individual foot-placement space for modular platform manipulators. / Ji, Zhiming; Li, Zhenqun.
25th Biennial Mechanisms Conference. American Society of Mechanical Engineers (ASME), 1998. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 1A-1998).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Ji, Zhiming

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PY - 1998

Y1 - 1998

N2 - Reconfigurability of a modular platform manipulator makes it possible for the manipulator to adapt to different applications. How should the actual configuration be selected? Practical reconfiguration of platform manipulators can only be achieved when users are provided with information to guide their selection process. This paper defines the foot-placement space and presents a method for determining individual Foot- Placement Spaces (FPSs) for a given set of leg modules, based on a desired workspace. Implementation of construction method for Foot-Placement Space is discussed and illustrated with an example.

AB - Reconfigurability of a modular platform manipulator makes it possible for the manipulator to adapt to different applications. How should the actual configuration be selected? Practical reconfiguration of platform manipulators can only be achieved when users are provided with information to guide their selection process. This paper defines the foot-placement space and presents a method for determining individual Foot- Placement Spaces (FPSs) for a given set of leg modules, based on a desired workspace. Implementation of construction method for Foot-Placement Space is discussed and illustrated with an example.

KW - Foot-Placement Space

KW - Modular Manipulator

KW - Parallel Platform Manipulator

KW - Reconfiguration

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PB - American Society of Mechanical Engineers (ASME)

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Determination of individual foot-placement space for modular platform manipulators

Abstract

Publication series

Conference

All Science Journal Classification (ASJC) codes

Keywords

Access to Document

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