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题名: Kinematics, statics and stiffness analysis of n(4-SPS+SP) S-PM
作者: Hu B(胡波) ; Zhuang, Shan ; Lu Y(路懿) ; Sui CP(隋春平) ; Han JD(韩建达) ; Yu JJ(于晶晶)
作者部门: 机器人学研究室
关键词: Deformation ; Manipulators ; Stiffness
刊名: International Journal of Robotics and Automation
ISSN号: 0826-8185
出版日期: 2012
卷号: 27, 期号:3, 页码:287-297
收录类别: SCI ; EI
产权排序: 2
摘要: A novel n(4-SPS+SP) serial-parallel manipulator (S-PM) formed by n 4-SPS+SP PMs with four degrees of freedom (DOF) connected in series is proposed in this paper. The kinematics, statics and stiffness model of this serial-PM is established. First, the forward kinematics of 4-SPS+SP (spherical joint-prismatic joint-revolute+spherical joint-prismatic joint) PM is derived and the kinematics of n(4-SPS+SP) S-PM is studied combined with the kinematics result of single 4-SPS+SP PM. Second, the statics, deformation and stiffness of n(4-SPS+SP) S-PM are studied. Finally, an analytically solved example is given for 3(4-SPS+SP) formed by three 4-SPS+SP PMs. The method for this mechanism is fit for other S-PMs.
WOS记录号: WOS:000306983800006
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Robotics
关键词[WOS]: SERIAL-PARALLEL MANIPULATOR ; PASSIVE CONSTRAINED LEG ; 4-DOF ; MECHANISMS
研究领域[WOS]: Automation & Control Systems ; Robotics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10026
Appears in Collections:机器人学研究室_期刊论文

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