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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)
Department机器人学研究室
Source PublicationJournal of Mechanisms and Robotics
ISSN1942-4302
2012
Volume4Issue:2Pages:8 pp
Indexed BySCI ; EI
EI Accession number20121814980704
WOS IDWOS:000310596000012
Contribution Rank2
KeywordKinematics Stiffness
AbstractThe 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Mechanical ; Robotics
WOS KeywordKINEMATICS ; DYNAMICS ; GEOMETRY ; INVERSE ; ROBOT
WOS Research AreaEngineering ; Robotics
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10036
Collection机器人学研究室
Corresponding AuthorHu B(胡波)
Affiliation1.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
Recommended Citation
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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