Spherical robots

Sugiyama, Y., Shiotsu, A., Yamanaka, M., Hirai, S. Circular/spherical robots for crawling and jumping. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 3606-3611 (2005)... 

According to the Figures 3 and 4 at the perspective centre P we place a local camera platform Fi, F2, IFa from which we take direction observations a,-, /3i to three points P,- (i=l,2,3) on the robot platform / robot table Fi ,F2, F3. whose given coordinates are Xi yi Zi ] along Fi ,F2 ,F3 . Once we call the spherical coordinates of the the relative position vector perspective centre P x, y, z)-points P xi,yi,Zi) by we arrive at the coordinate relation... 

Spherical Coordinate Robots The Unimate robot belongs to the class of spherical coordinate robots. Initially the class was used widely, several manufacturers offered robots of this class, and it found widespread usage in the first decades of industrial robotics. It offers a better ratio between work volume and mechanical structure volume than the cylindrical coordinate robot. But the dexterity is still much lower than that of the anthropomorphic robots. Since... 

Lum, M., Rosen, J., Sinanan, M.N., Hannaford, B. Optimization of a spherical mechanism for a minimally invasive surgical robot theoretical and experimental approaches. IEEE Transactions on Biomedical Engineering 53(7), 1440-1445 (2006)... 

L. Zhang, W. Chen, J. Liu, X. Wu, Geometric Parameter Identification for Spherical Actuator Calibration Based on Torque Formula, IEEE International Conference on Robotics and Automation (ICRA), Germany, 2013, pp. 3666-3671. 

Sodeyama, Y., et al., 2008. The designs and motions of a shoulder with a spherical thorax, scapulas and collarbones for humanoid Kotaro . In lEEE/RSJ International Conference on Intelligent Robots and Systems. 

RAVEN [43,44], designed by University of Washington and University of California Santa Cruz, is a tele-operated surgical robot for laparoscopic procedures (Figure 5.14). The system consists of two slave RCM arms that are mounted by roU-pitch-yaw cable-driven surgical tools delivering a total of 6 DOFs. The RCM arms are spherical mechanisms that create a mechanically locked RCM at the port location. The tool has a roll-pitch-yaw mechanism and is 10 mm in diameter. 

Figure 3 Different types of robots (8). 1. Cartesian. 2. Spherical. 3. Cylindrical. 4. Revolute.

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