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题名:
Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis
作者: Lu Y(路懿); Yu JJ(于晶晶); Sui CP(隋春平); Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期: June 8-12, 2015
会议地点: Shenyang, PEOPLES R CHINA
会议主办者: IEEE
会议录: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2015
页码: 42-47
收录类别: EI ; CPCI(ISTP)
ISSN号: 2379-7711
ISBN号: 978-1-4799-8730-6
关键词: in-pipe parallel manipulator ; kinematics ; statics
摘要: An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution.
语种: 英语
产权排序: 3
EI收录号: 20161402187698
WOS记录号: WOS:000380502300014
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19365
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Lu Y,Yu JJ,Sui CP,et al. Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis[C]. 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, PEOPLES R CHINA. June 8-12, 2015.Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis.
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