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Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators
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
发表期刊JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
ISSN1942-4302
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
资助机构This research is supported by the Foundation of State Key Laboratory of Robotics (Shenyan Institute of Automation, Chinese Academy of Sciences).
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
WOS类目Engineering, Mechanical ; Robotics
关键词[WOS]Solving Active/constrained Forces ; Inverse Dynamics ; Virtual Work ; Screw Theory ; Active Legs ; Formulation ; Principle ; Matrices ; Robots
WOS研究方向Engineering ; Robotics
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10131
专题机器人学研究室
作者单位1.College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyan, Liaoning 110016, China
3.College of Foreign Studies, Yanshan University, Qinhuangdao, Hebei 066004, China
推荐引用方式
GB/T 7714
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..
APA Lu Y,Hu B,Han JD,&Yu JP.(2011).Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators.JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME,3(1),8 pp..
MLA Lu Y,et al."Kinematics Analysis of Some Linear Legs With Different Structures for Limited-DOF Parallel Manipulators".JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME 3.1(2011):8 pp..
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