Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series
文献类型：期刊论文
| 作者 | Hu B(胡波) ; Yu JJ(于晶晶); Lu Y(路懿); Sui CP(隋春平); Han JD(韩建达)
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| 刊名 | Journal of Mechanisms and Robotics
 |
| 出版日期 | 2012 |
| 卷号 | 4期号:2页码:8 pp |
| 关键词 | Kinematics Stiffness |
| ISSN号 | 1942-4302 |
| 产权排序 | 2 |
| 通讯作者 | 胡波 |
| 中文摘要 | The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel manipulators (PMs) connected in series is established in this paper. The S-PMs can provide features of both serial manipulators (SMs) and PMs. First, the unified formulae for solving the statics and stiffness of S-PMs are derived. Second, a k(PS + RPS + SPS) S-PM is analyzed to illustrate this model. Finally, an analytic solved example for 5(PS + RPS + SPS) S-PM is given. The established model can offer an essential theoretical basis for S-PMs. © 2012 American Society of Mechanical Engineers. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Mechanical ; Robotics |
| 研究领域[WOS] | Engineering ; Robotics |
| 关键词[WOS] | KINEMATICS ; DYNAMICS ; GEOMETRY ; INVERSE ; ROBOT |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000310596000012 |
| 公开日期 | 2012-10-24 |
| 源URL | [http://ir.sia.cn/handle/173321/10036]  |
| 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,Yu JJ,Lu Y,et al. Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series[J]. Journal of Mechanisms and Robotics,2012,4(2):8 pp. |
| APA | Hu B,Yu JJ,Lu Y,Sui CP,&Han JD.(2012).Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series.Journal of Mechanisms and Robotics,4(2),8 pp. |
| MLA | Hu B,et al."Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series".Journal of Mechanisms and Robotics 4.2(2012):8 pp. |
入库方式： OAI收割
来源：沈阳自动化研究所
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