Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis
文献类型：会议论文
| 作者 | Lu Y(路懿); Yu JJ(于晶晶); Sui CP(隋春平) ; Han JD(韩建达)
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| 出版日期 | 2015 |
| 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 |
| 关键词 | in-pipe parallel manipulator kinematics statics |
| 页码 | 42-47 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 3 |
| 会议主办者 | IEEE |
| 会议录 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| WOS记录号 | WOS:000380502300014 |
| 源URL | [http://ir.sia.cn/handle/173321/19365]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 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]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, PEOPLES R CHINA. June 8-12, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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