| 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)
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| Department | 空间自动化技术研究室 |
| Conference Name | 7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 |
| Conference Date | July 31 - August 4, 2017 |
| Conference Place | Hawaii, USA |
| Author of Source | IEEE Robotics and Automation Society |
| Source Publication | 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017 |
| Publisher | IEEE |
| Publication Place | New York |
| 2017 | |
| Pages | 442-448 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20183905873585 |
| WOS ID | WOS:000447628700082 |
| Contribution Rank | 1 |
| ISBN | 978-1-5386-0489-2 |
| Keyword | Joints 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 |
| Identifier | http://ir.sia.cn/handle/173321/21311 |
| Collection | 空间自动化技术研究室 |
| Corresponding Author | Qin JW(秦基伟) |
| Affiliation | Shenyang 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| Design of a 4 Dof Ma（1666KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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