The Kinematic Study of a Window Cleaning Robot in Residence

R.F. Huang, S.X. Yuan

Abstract


The paper introduced a window cleaning robot designed for utilizing in residential environment. Bifurcation theory was used to study the constraint conditions of the length of rods. The kinematic analysis and researchwere carried out. Redundant DOF manipulators’ motion performance was optimized and inverse kinematics was solved with extended Jacobi method.

Keywords


plane three rods; extended Jacobi method; redundant DOF robot


DOI
10.12783/dtetr/mcemic2016/9541

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