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Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis
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
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地NEW YORK
2015
页码42-47
收录类别EI ; CPCI(ISTP)
EI收录号20161402187698
WOS记录号WOS:000380502300014
产权排序3
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19365
专题机器人学研究室
作者单位1.College of Mech Eng, Yanshan University, Qinhuangdao, Hebei, China
2.Department of Mechatronics, Heibei Normal University of Science and Technology, Qinhuangdao, Hebei, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Liaoning, China
推荐引用方式
GB/T 7714
Lu Y,Yu JJ,Sui CP,et al. Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis[C]//IEEE. NEW YORK:IEEE,2015:42-47.
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