Simulation and analysis of pose setting test of space redocking manipulator end-effector based on parallel mechanism
文献类型：期刊论文
| 作者 | Bai XL(白鑫林)1 ; Xu ZG(徐志刚)1,2; Liu MY(刘明洋)1; Yin M(尹猛)1,2
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| 刊名 | International Journal of Mechanical Engineering and Robotics Research
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| 出版日期 | 2019 |
| 卷号 | 8期号:4页码:516-522 |
| 关键词 | space station Redocking manipulator end effector pose setting parallel mechanism |
| ISSN号 | 2278-0149 |
| 产权排序 | 1 |
| 英文摘要 | According to pose setting ground test requirements of space station redocking manipulator end-effector, a method based on parallel mechanism is proposed to meet the demand between actuator and adapter. Firstly, Parallel mechanism of 6-DOF is designed and its working principle of pose setting is described. Secondly, mathematical models of parallel mechanism agile space, kinematic interference characteristics of actuator and adapter and structural statics are established. Finally, workspace search algorithm base on cylindrical coordinates and interference detection algorithm using space geometry are programmed by Matlab, respectively. Simulation results show that movement range of designed parallel mechanism can satisfy the demand of required pose, there is no motion interference between driving branches and adapter, mechanism has good bearing capacity, and the method is also effective. |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/28402]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 通讯作者 | Bai XL(白鑫林) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation. Chinese Academic of Sciences, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Bai XL,Xu ZG,Liu MY,et al. Simulation and analysis of pose setting test of space redocking manipulator end-effector based on parallel mechanism[J]. International Journal of Mechanical Engineering and Robotics Research,2019,8(4):516-522. |
| APA | Bai XL,Xu ZG,Liu MY,&Yin M.(2019).Simulation and analysis of pose setting test of space redocking manipulator end-effector based on parallel mechanism.International Journal of Mechanical Engineering and Robotics Research,8(4),516-522. |
| MLA | Bai XL,et al."Simulation and analysis of pose setting test of space redocking manipulator end-effector based on parallel mechanism".International Journal of Mechanical Engineering and Robotics Research 8.4(2019):516-522. |
入库方式： OAI收割
来源：沈阳自动化研究所
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