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- W2938260493 abstract "The present work has its origin in the algorithms and approaches for the analysis of arobot of variable geometry developed in the TU Ilmenau. Such robot hat an initiallycylindrical robot changes to a truncated conical geometry, in order to be able to rotatearound the vertical axis located at the generating point of such a cone. The present thesisbegins with a basic explanation of the foundations for the study of tensegrity structures;later, from the variable parameters of the geometric description of the robot, thekinematic equations of position, velocity and acceleration are evaluated for every pointof the geometry of the robot. In the same chapter an alternative of predicting the path ofthe robot using a clothoid curve is proposed, this curve has the purpose of givingequations of the trajectory of the geometric center of the robot. In a following chapter,the control algorithms for the rolling movement of the robot are presented, as well as apossible constructive form previously used for a similar application. Finally, the lastchapter presents alternative materials for manufacturing the body of the robot, as well asthe bases of an approach for the evaluation of curved tensile structures; additionally, itproposes a form of calculation for later development of the final geometry of the robot." @default.
- W2938260493 created "2019-04-25" @default.
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- W2938260493 date "2019-04-05" @default.
- W2938260493 modified "2023-09-23" @default.
- W2938260493 title "A contribution to the investigation of the rolling movement of mobile robots based on tensegrity structures" @default.
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