中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 期刊论文
题名: Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs
作者: Lu Y(路懿) ; Wang P(王鹏) ; Zhao SH(赵少华) ; Hu B(胡波) ; Han JD(韩建达) ; Sui CP(隋春平)
作者部门: 机器人学研究室
关键词: Jacobian matrices ; Manipulators
刊名: Robotics and Computer-Integrated Manufacturing
ISSN号: 0736-5845
出版日期: 2014
卷号: 30, 期号:1, 页码:25-33
收录类别: SCI ; EI
产权排序: 3
摘要: A novel 5-DoF parallel manipulator (PM) with two composite rotational/linear active legs is proposed and its kinematics and statics are studied systematically. First, a prototype of this PM is constructed and its displacement is analyzed. Second, the formulas are derived for solving the linear/angular velocity and acceleration of UPS composite active leg. Third, the Jacobian and Hessian matrices are derived and formulas for solving the velocity, statics and acceleration of this PM are derived. Third, a reachable work space is constructed using a CAD variation geometric approach. Finally, the kinematics and statics of this PM are illustrated and solved. The solved results are verified by the simulation results.
WOS记录号: WOS:000326910700004
WOS标题词: Science & Technology ; Technology
类目[WOS]: Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
关键词[WOS]: IDENTICAL LIMB STRUCTURES ; HYBRID MACHINE-TOOL ; WORKSPACE ; MECHANISMS ; DESIGN ; 4-DOF ; 3-DOF
研究领域[WOS]: Computer Science ; Engineering ; Robotics
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14061
Appears in Collections:机器人学研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational linear active legs.pdf(1470KB)----开放获取View Download
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Lu Y(路懿)]'s Articles
[Wang P(王鹏)]'s Articles
[Zhao SH(赵少华)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Lu Y(路懿)]‘s Articles
[Wang P(王鹏)]‘s Articles
[Zhao SH(赵少华)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational linear active legs.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace