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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)
作者部门空间自动化技术研究室
会议名称7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
会议日期July 31 - August 4, 2017
会议地点Hawaii, USA
会议主办者IEEE Robotics and Automation Society
会议录名称2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
出版者IEEE
出版地New York
2017
页码442-448
收录类别EI ; CPCI(ISTP)
EI收录号20183905873585
WOS记录号WOS:000447628700082
产权排序1
ISBN号978-1-5386-0489-2
关键词Joints Configuration Manipulator Connecting Rod Size Analytic Hierarchy Process
摘要

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.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21311
专题空间自动化技术研究室
通讯作者Qin JW(秦基伟)
作者单位Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang, Liaoning Province, China
推荐引用方式
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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