Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs
文献类型：期刊论文
| 作者 | Lu Y(路懿); Wang P(王鹏) ; Zhao SH(赵少华); Hu B(胡波); Han JD(韩建达); Sui CP(隋春平)
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| 刊名 | Robotics and Computer-Integrated Manufacturing
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| 出版日期 | 2014 |
| 卷号 | 30期号:1页码:25-33 |
| 关键词 | Jacobian matrices Manipulators |
| ISSN号 | 0736-5845 |
| 产权排序 | 3 |
| 通讯作者 | 路懿 |
| 中文摘要 | A novel 5-DoF parallel manipulator (PM) with two composite rotational/linear active legs is proposed and its kinematics and statics are studied systematically. First, a prototype of this PM is constructed and its displacement is analyzed. Second, the formulas are derived for solving the linear/angular velocity and acceleration of UPS composite active leg. Third, the Jacobian and Hessian matrices are derived and formulas for solving the velocity, statics and acceleration of this PM are derived. Third, a reachable work space is constructed using a CAD variation geometric approach. Finally, the kinematics and statics of this PM are illustrated and solved. The solved results are verified by the simulation results. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics |
| 研究领域[WOS] | Computer Science ; Engineering ; Robotics |
| 关键词[WOS] | IDENTICAL LIMB STRUCTURES ; HYBRID MACHINE-TOOL ; WORKSPACE ; MECHANISMS ; DESIGN ; 4-DOF ; 3-DOF |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000326910700004 |
| 公开日期 | 2013-12-27 |
| 源URL | [http://ir.sia.cn/handle/173321/14061]  |
| 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,Wang P,Zhao SH,et al. Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs[J]. Robotics and Computer-Integrated Manufacturing,2014,30(1):25-33. |
| APA | Lu Y,Wang P,Zhao SH,Hu B,Han JD,&Sui CP.(2014).Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs.Robotics and Computer-Integrated Manufacturing,30(1),25-33. |
| MLA | Lu Y,et al."Kinematics and statics analysis of a novel 5-DoF parallel manipulator with two composite rotational/linear active legs".Robotics and Computer-Integrated Manufacturing 30.1(2014):25-33. |
入库方式： OAI收割
来源：沈阳自动化研究所
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