Design of a 4-DOF Manipulator for GIS Detection
文献类型：会议论文
| 作者 | Chang Y(常勇); Zhu SS(祝胜山); Qin JW(秦基伟) ; Su SY(苏双燕)
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| 出版日期 | 2017 |
| 会议名称 | 7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017) |
| 会议日期 | July 31 - August 4, 2017 |
| 会议地点 | Hawaii, USA |
| 关键词 | Joints configuration Manipulator connecting rod size Analytic Hierarchy Process |
| 页码 | 442-448 |
| 通讯作者 | Qin JW(秦基伟) |
| 中文摘要 | 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. |
| 产权排序 | 1 |
| 会议录 | 7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-0489-2 |
| 源URL | [http://ir.sia.cn/handle/173321/21311]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 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 | Chang Y,Zhu SS,Qin JW,et al. Design of a 4-DOF Manipulator for GIS Detection[C]. 见:7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017). Hawaii, USA. July 31 - August 4, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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