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Design of a 4-DOF Manipulator for GIS Detection
Zhu SS(祝胜山); Chang Y(常勇); Qin JW(秦基伟); Su SY(苏双燕)
Department空间自动化技术研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages442-448
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873585
WOS IDWOS:000447628700082
Contribution Rank1
ISBN978-1-5386-0489-2
KeywordJoints Configuration Manipulator Connecting Rod Size Analytic Hierarchy Process
Abstract

A 4-DOF manipulator for Gas Insulated Switchgear (GIS) detection is proposed in this paper. Firstly, the parameters of the structure dimension and the global flexibility are used to determine the configuration by comparing the characters of all kinds of joints configurations. After that, a mathematical model for optimal design of the mechanism of the manipulator is derived by considering the parameters named force operational degree, acceleration and flexibility. The two main linkage’s dimension of the manipulator is obtained by using the Optimal Calculation Module of MATLAB and the performance of the manipulator is simulated at last.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21311
Collection空间自动化技术研究室
Corresponding AuthorQin JW(秦基伟)
AffiliationShenyang Institute of Automation, Chinese Academy of Sciences Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Zhu SS,Chang Y,Qin JW,et al. Design of a 4-DOF Manipulator for GIS Detection[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:442-448.
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