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Quaternion method for the kinematics analysis of parallel metamorphic mechanisms
Zhang ZH(张忠海); Sun J(孙健); Wang ZH(王振华); Yu GJ(于功敬); Li DL(李端玲); Liu JG(刘金国)
作者部门空间自动化技术研究室
会议名称3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
会议日期July 20-22, 2015
会议地点Beijing, China
会议录名称Mechanisms and Machine Science
出版者Kluwer Academic Publishers
出版地Dordrecht, Netherlands
2015
页码259-274
收录类别EI
EI收录号20154801631737
产权排序3
ISSN号2211-0984
关键词Parallel Metamorphic Mechanism Kinematics Analysis Forward Kinematics Inverse Kinematics Quaternion Resultant Elimination
摘要The parallel metamorphic mechanism is a novel metamorphic mechanism. Its kinematics analysis is not only a new research field, but also a difficult problem. In this paper, with the origin of coordinates on the moving platform describing its position and Euler angles describing its orientation, we present the quaternion expression of an arbitrary point’s location on the moving platform in the fixed coordinate system. Then a method to establish the unified mathematical model for kinematics analysis of the parallel metamorphic mechanism is presented. Based on this unified mathematical model, forward and inverse kinematics analysis of the parallel metamorphic mechanism in different configurations can be conducted. Using kinematics analysis of a novel 4-URU parallel metamorphic mechanism, the proposed kinematics analysis method is further elaborated, and the resultant elimination method is presented to solve the kinematics equations. Finally, a numerical example is given to verify that the proposed method is correct and effective.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17325
专题空间自动化技术研究室
作者单位1.Beijing Aerospace Measurement and Control Technology Co., Ltd, CASIC, Beijing, China
2.Automation School, Beijing University of Posts and Telecommunications, Beijing, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang, China
推荐引用方式
GB/T 7714
Zhang ZH,Sun J,Wang ZH,et al. Quaternion method for the kinematics analysis of parallel metamorphic mechanisms[C]. Dordrecht, Netherlands:Kluwer Academic Publishers,2015:259-274.
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