Kinematics, statics and stiffness analysis of n(4-SPS+SP) S-PM
文献类型：期刊论文
| 作者 | Hu B(胡波) ; Zhuang, Shan; Lu Y(路懿); Sui CP(隋春平); Han JD(韩建达); Yu JJ(于晶晶)
|
| 刊名 | International Journal of Robotics and Automation
 |
| 出版日期 | 2012 |
| 卷号 | 27期号:3页码:287-297 |
| 关键词 | Deformation Manipulators Stiffness |
| ISSN号 | 0826-8185 |
| 产权排序 | 2 |
| 通讯作者 | 胡波 |
| 中文摘要 | A novel n(4-SPS+SP) serial-parallel manipulator (S-PM) formed by n 4-SPS+SP PMs with four degrees of freedom (DOF) connected in series is proposed in this paper. The kinematics, statics and stiffness model of this serial-PM is established. First, the forward kinematics of 4-SPS+SP (spherical joint-prismatic joint-revolute+spherical joint-prismatic joint) PM is derived and the kinematics of n(4-SPS+SP) S-PM is studied combined with the kinematics result of single 4-SPS+SP PM. Second, the statics, deformation and stiffness of n(4-SPS+SP) S-PM are studied. Finally, an analytically solved example is given for 3(4-SPS+SP) formed by three 4-SPS+SP PMs. The method for this mechanism is fit for other S-PMs. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Robotics |
| 关键词[WOS] | SERIAL-PARALLEL MANIPULATOR ; PASSIVE CONSTRAINED LEG ; 4-DOF ; MECHANISMS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000306983800006 |
| 公开日期 | 2012-10-24 |
| 源URL | [http://ir.sia.cn/handle/173321/10026]  |
| 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 | Hu B,Zhuang, Shan,Lu Y,et al. Kinematics, statics and stiffness analysis of n(4-SPS+SP) S-PM[J]. International Journal of Robotics and Automation,2012,27(3):287-297. |
| APA | Hu B,Zhuang, Shan,Lu Y,Sui CP,Han JD,&Yu JJ.(2012).Kinematics, statics and stiffness analysis of n(4-SPS+SP) S-PM.International Journal of Robotics and Automation,27(3),287-297. |
| MLA | Hu B,et al."Kinematics, statics and stiffness analysis of n(4-SPS+SP) S-PM".International Journal of Robotics and Automation 27.3(2012):287-297. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。