Anzeige
Erschienen in:
2012 | OriginalPaper | Buchkapitel
Kinematics and Workspace Analysis
verfasst von : Tin Lun Lam, Yangsheng Xu
Erschienen in: Tree Climbing Robot
Verlag: Springer Berlin Heidelberg
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Fig. 6.1 shows the configuration of Treebot. In the notations, the superscripts
r
and
f
denote the front and rear gripper frame respectively.
l
f
and
l
r
represent the distance from the end of the continuum body to the center of the front and rear gripper respectively.
h
g
denotes the distance between the base of the gripper and the continuum body. The reference frames for the front and rear grippers are also illustrated in the figure. The direction of a gripper refers to the direction along the positive
z
-axis, where a normal direction refers to the direction toward the positive
x
-axis.