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Kinematics/statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg
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第一作者: 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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发表年度: 2013
期: 2
卷: 31
页: 183-191
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.
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刊物名称: Robotica
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