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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)
Department空间自动化技术研究室
Conference Name3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2015)
Conference DateJuly 20-22, 2015
Conference PlaceBeijing, China
Source PublicationMechanisms and Machine Science
PublisherKluwer Academic Publishers
Publication PlaceDordrecht, Netherlands
2015
Pages259-274
Indexed ByEI ; CPCI(ISTP)
EI Accession number20154801631737
WOS IDWOS:000450989800023
Contribution Rank3
ISSN2211-0984
KeywordParallel Metamorphic Mechanism Kinematics Analysis Forward Kinematics Inverse Kinematics Quaternion Resultant Elimination
AbstractThe 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17325
Collection空间自动化技术研究室
Affiliation1.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
Recommended Citation
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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