Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers
文献类型：期刊论文
| 作者 | Lu Y(路懿); Wang P(王鹏) ; Hou ZL(侯卓磊); Hu B(胡波); Sui CP(隋春平); Han JD(韩建达)
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| 刊名 | Mechanism and Machine Theory
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| 出版日期 | 2014 |
| 卷号 | 78页码:36-50 |
| 关键词 | Jacobian matrices Kinematics |
| ISSN号 | 0094-114X |
| 产权排序 | 3 |
| 通讯作者 | 路懿 |
| 中文摘要 | A novel 6-DoF 3UPS parallel manipulator (PM) with multi-fingers is proposed and its kinetostatics is studied in the light of its application. First, the proposed PM with multi-fingers is designed, and its structural characteristics are analyzed. Second, some formulae are derived for solving the displacement, linear/angular velocity and acceleration of UPS type composite active leg, the Jacobian and Hessian matrices, and the velocity, statics and acceleration of the 3UPS PM. Third, the kinematics of fingers and the workload applied on the fingers are transformed into the coordination kinematics and the active forces/torques applied onto the active legs of both the proposed PM and the fingers. Fourth, an analytic solving example of the proposed PM with three fingers is given for illustrating the application of the kinetostatic formulae. Fifth, the workspaces of the proposed PM and one finger are constructed. Finally, the analytic solutions are verified by simulation solutions. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Mechanical |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | INVERSE DYNAMICS ; DESIGN ; ROBOT ; KINEMATICS ; WORKSPACE ; MECHANISM ; SURGERY ; SYSTEM ; HAND |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000336481600003 |
| 源URL | [http://ir.sia.cn/handle/173321/15118]  |
| 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,Hou ZL,et al. Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers[J]. Mechanism and Machine Theory,2014,78:36-50. |
| APA | Lu Y,Wang P,Hou ZL,Hu B,Sui CP,&Han JD.(2014).Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers.Mechanism and Machine Theory,78,36-50. |
| MLA | Lu Y,et al."Kinetostatic analysis of a novel 6-DoF 3UPS parallel manipulator with multi-fingers".Mechanism and Machine Theory 78(2014):36-50. |
入库方式： OAI收割
来源：沈阳自动化研究所
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