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题名: Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers
作者: Lu Y(路懿) ; Wang P(王鹏) ; Hou ZL(侯卓磊) ; Hu B(胡波) ; Sui CP(隋春平) ; Han JD(韩建达)
作者部门: 机器人学研究室
关键词: Jacobian matrices ; Kinematics
刊名: Mechanism and Machine Theory
ISSN号: 0094-114X
出版日期: 2014
卷号: 78, 页码:36-50
收录类别: SCI ; EI
产权排序: 3
摘要: A novel 6-DoF 3UPS parallel manipulator (PM) with multi-fingers is proposed and its kinetostatics is studied in the light of its application. First, the proposed PM with multi-fingers is designed, and its structural characteristics are analyzed. Second, some formulae are derived for solving the displacement, linear/angular velocity and acceleration of UPS type composite active leg, the Jacobian and Hessian matrices, and the velocity, statics and acceleration of the 3UPS PM. Third, the kinematics of fingers and the workload applied on the fingers are transformed into the coordination kinematics and the active forces/torques applied onto the active legs of both the proposed PM and the fingers. Fourth, an analytic solving example of the proposed PM with three fingers is given for illustrating the application of the kinetostatic formulae. Fifth, the workspaces of the proposed PM and one finger are constructed. Finally, the analytic solutions are verified by simulation solutions.
语种: 英语
WOS记录号: WOS:000336481600003
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Mechanical
关键词[WOS]: INVERSE DYNAMICS ; DESIGN ; ROBOT ; KINEMATICS ; WORKSPACE ; MECHANISM ; SURGERY ; SYSTEM ; HAND
研究领域[WOS]: Engineering
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15118
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
路懿; 王鹏; 侯卓磊; 胡波; 隋春平; 韩建达.Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers,Mechanism and Machine Theory,2014,78():36-50
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文件名: Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers.pdf
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