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Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series
Hu B(胡波); Yu JJ(于晶晶); Lu Y(路懿); Sui CP(隋春平); Han JD(韩建达)
作者部门机器人学研究室
关键词Kinematics Stiffness
发表期刊Journal of Mechanisms and Robotics
ISSN1942-4302
2012
卷号4期号:2页码:8 pp
收录类别SCI ; EI
EI收录号20121814980704
WOS记录号WOS:000310596000012
产权排序2
摘要The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel manipulators (PMs) connected in series is established in this paper. The S-PMs can provide features of both serial manipulators (SMs) and PMs. First, the unified formulae for solving the statics and stiffness of S-PMs are derived. Second, a k(PS + RPS + SPS) S-PM is analyzed to illustrate this model. Finally, an analytic solved example for 5(PS + RPS + SPS) S-PM is given. The established model can offer an essential theoretical basis for S-PMs. © 2012 American Society of Mechanical Engineers.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Mechanical ; Robotics
关键词[WOS]KINEMATICS ; DYNAMICS ; GEOMETRY ; INVERSE ; ROBOT
WOS研究方向Engineering ; Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10036
专题机器人学研究室
通讯作者Hu B(胡波)
作者单位1.Robotics Research Center, Yanshan University, Qinhuangdao, Hebei 066004, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China
推荐引用方式
GB/T 7714
Hu B,Yu JJ,Lu Y,et al. Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series[J]. Journal of Mechanisms and Robotics,2012,4(2):8 pp.
APA Hu B,Yu JJ,Lu Y,Sui CP,&Han JD.(2012).Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series.Journal of Mechanisms and Robotics,4(2),8 pp.
MLA Hu B,et al."Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series".Journal of Mechanisms and Robotics 4.2(2012):8 pp.
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