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• W1481010495 abstract "Mine rescue robot was developed to enter mines during emergencies, such as underground explosion, roof fall or water inundation, to locate possible escape routes for those trapped inside and determine whether it is safe for human to enter or not. Comparing with wheeled robots (Baker et al., 2004) and tracked robots (Tanaka et al., 2005; Wang et al., 2007), legged robots are flexible and effective to move on uneven surfaces and natural environments because of its adaptability to the geometry of the terrain and in principle support on very steep surfaces. Though thought as the promising systems, it is always challenging and complex to achieve robust locomotion of legged robots. Most of the recent prototypes of legged robots, including Lauron III (Gabmann et al., 2005), RHex (Koditschek et al., 2004) and SILO4 (Santos et al., 2005), adopted the serial leg manipulator. Due to better system rigidity, rapid motion velocity, high nominal load to weight ratio and flexible end position-stance, the parallel manipulators are feasible to be the leg manipulators of mine rescue robots. But it is well known that the close chain often leads to difficulty in its mechanical design. Since Clavel and his Delta structures (Clavel, 1988) in the late 80’s have reached extremely high performances, lower-mobility parallel manipulators have been under intensive study for over many years. Lower-mobility parallel manipulators have simpler mechanical structure, simpler control system, high speed performance, low manufacturing and operations cost (Kim, 2001). Therefore, they have been applied in some fields, including telescope applications (Carretero et al., 2000), flight simulation (Pouliot et al., 1996) and beam aiming applications (Dunlop & Jones, 1997). Among lower-mobility parallel manipulators, special attention has been paid to optimization and innovation of 3 degree-of-freedom (DOF) parallel manipulators. Some 3-DOF translational and spherical parallel manipulators were proposed respectively. The topological structure of 3-UCR symmetrical parallel robot leg is described in Fig. 1(a). The parallel manipulator consists of a fixed base, a moving platform and three limbs with identical structure. In Fig. 1(a), OO-XOYOZO is the static coordinate system attached to the base, while OO′-XO′YO′ZO′ is the moving coordinate system attached to the moving platform. The lengths of the equilateral triangle lines in the moving platform and the base, such as LA′B′ and LAB, are denoted as Lm and LB, respectively. Each limb connects the moving 19" @default.
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• W1481010495 date "2010-04-01" @default.
• W1481010495 modified "2023-09-30" @default.
• W1481010495 title "Kinematic Analysis of 3-UCR Parallel Robot Leg" @default.
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• W1481010495 doi "https://doi.org/10.5772/9319" @default.
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