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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
EI收录号: 20104913458196
WOS记录号: WOS:000291998200006
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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作者单位: 1.College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
2.State Key Laboratory of Robotics, Shenyan Institute of Automation, Chinese Academy of Sciences, Shenyan, Liaoning 110016, China
3.College of Foreign Studies, Yanshan University, Qinhuangdao, Hebei 066004, China

Recommended Citation:
Lu Y,Hu B,Han JD,et al. Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators[J]. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,2011,3(1):8 pp..
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文件名: Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators.pdf
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