Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg
文献类型：期刊论文
| 作者 | Lu Y(路懿); Zhang XL(张秀礼); Sui CP(隋春平) ; Han JD(韩建达); Hu B(胡波)
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| 刊名 | Robotica
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| 出版日期 | 2013 |
| 卷号 | 31期号:2页码:183-191 |
| 关键词 | Parallel manipulator Kinematics Activeforce Constraint force Workspace |
| ISSN号 | 0263-5747 |
| 产权排序 | 3 |
| 通讯作者 | 路懿 |
| 中文摘要 | A novel 3-leg 5-DoF parallel manipulator (PM) with a UPU-type composite active constrained leg is proposed and its kinematics and statics are analyzed systematically. First, the formulae are derived for solving the inverse/forward displacements, inverse/forward velocities, and active/constraint forces. Second, the formulae are derived for solving inverse/forward accelerations. Third, a simulation mechanism of this PM is created and its workspace is constructed and analyzed. Finally, the analytic results are verified by its simulation mechanism. © Cambridge University Press 2012. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | SCREW THEORY ; 3-DOF ; MECHANISMS ; DYNAMICS ; 4-DOF |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000314166300002 |
| 公开日期 | 2013-04-21 |
| 源URL | [http://ir.sia.cn/handle/173321/10620]  |
| 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,Zhang XL,Sui CP,et al. Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg[J]. Robotica,2013,31(2):183-191. |
| APA | Lu Y,Zhang XL,Sui CP,Han JD,&Hu B.(2013).Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg.Robotica,31(2),183-191. |
| MLA | Lu Y,et al."Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg".Robotica 31.2(2013):183-191. |
入库方式： OAI收割
来源：沈阳自动化研究所
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