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题名: Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators
作者: Lu Y(路懿) ; Hu B(胡波) ; Han JD(韩建达) ; Yu JP(于建平)
作者部门: 机器人学研究室
关键词: parallel manipulator ; kinematics ; dynamics
刊名: JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
ISSN号: 1942-4302
出版日期: 2011
卷号: 3, 期号:1, 页码:8 pp.
收录类别: SCI ; EI
产权排序: 2
摘要: To solve the velocity and acceleration of legs with different structures is a fundamental and challenging issue for dynamics analysis of parallel manipulators (PMs). In this paper, the kinematics of linear legs with different structures for limited-degree of freedom (DOF) PMs is studied. First, based on kinematics/statics of general limited-DOF PM, the formulas are derived for solving the angular velocity/acceleration of some linear legs with different structures. Second, the velocity and acceleration of the piston/cylinder in the legs are represented by velocity and acceleration of platform in PM. Finally, the solving procedures are illustrated by applying this approach to a 4DOF PM. [DOI: 10.1115/1.4002694]
语种: 英语
WOS记录号: WOS:000291998200006
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Mechanical ; Robotics
关键词[WOS]: SOLVING ACTIVE/CONSTRAINED FORCES ; INVERSE DYNAMICS ; VIRTUAL WORK ; SCREW THEORY ; ACTIVE LEGS ; FORMULATION ; PRINCIPLE ; MATRICES ; ROBOTS
研究领域[WOS]: Engineering ; Robotics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10131
Appears in Collections:机器人学研究室_期刊论文

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