期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

4PUS-1PS型并联机器人运动学与工作空间分析 被引量：1

Kinematic and Workspace Analysis of 4PUS- 1PS Parallel Robot
下载PDF
导出
摘要 并联机器人的运动学分析是动力学分析的基础,而工作空间是评价并联机器人工作性能的重要指标。对4PUS-1PS型并联机器人进行了逆运动学分析,使用ADAMS软件对其进行仿真,并与MATLAB软件计算的结果相比对。基于运动学逆解,结合机构的约束条件,运用MATLAB搜索其工作空间。为其动力学分析及此类机器人的设计与运用提供依据。 The kinematic analysis of parallel robot is the basis of its dynamic analysis,and the workspace is an important index to evaluate its working performance.Firstly,this paper analyzes its inverse kinematics,then uses ADAMS software to simulate it and compares with the results calculated by MATLAB software.Based on the inverse kinematics and combined with the constraints of this mechanism,uses MATLAB to search its workspace.The paper provides the basis for the kinetic analysis and the design and use of such kinds of robot.
作者 余伟 郭钢 孙德智
机构地区 南京理工大学
出处 《机械制造与自动化》 2014年第1期163-165,176,共4页 Machine Building & Automation
关键词 4PUS-1PS 并联机器人 运动学 ADAMS MATLAB 4PUS-1PS parallel robot kinematics ADAMS MATLAB
分类号 TH113 [机械工程—机械设计及理论] TP24 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献4

  • 1Feng X F, Nan X Y, Liang X G. design and analysis of a recon- 176 http://ZZHD.chinajoumal, net. cfigurable parallel robot [ J ]. Mechanism and Machine Theory, 2006,2(41) :191-211.
  • 2Abbasnejad G, Daniali H M, Fathi A. Architecture optimization of 4PUS+ 1PS parallel manipulator[ J ]. Robotica 2011, 29:683 - 690.
  • 3李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2009.
  • 4刘平松,郭钢,朱海宁.I4R并联机器人工作空间分析[J].机械制造与自动化,2012,41(4):156-157. 被引量：4

二级参考文献6

  • 1Feng X F, Nan X Y, Liang X G. Design and analysis of a re - con- figurable parallel robot [ J ]. Mechanism and Machine Theory, 2006,2 (41) : 191-211.
  • 2Sebastien Krut, Michel Benoit , et al . I4R :A new parallel mechanism for SCARA motions[ C ]. International Conference on Robotics and Automation,2003 : 1875 -1880.
  • 3Tej Dallej, Nicolas Andreff, Philippe Martinet. Image - based vis- ual servoing of the I4R parallel robot without proprioceptivc sen- sors[ C]. International onference on Robotics and Automation, 2007 : 1709-1714.
  • 4Sebastien krut, Vincent Nabat, et al . A high - speed parallel ro- bot for SCARA motions [ C ]. International Conference on Ad- vanced Intelligent Mechatronics. 2004:4109-4115.
  • 5方斌,李剑锋.14R并联机器人机构的位置解析和奇异性分析[J].高技术通讯,2010,20(10):1080-1085. 被引量：3
  • 6程伟,郭钢,唐红品,赵爱娜.一种新型6-PTS并联机器人工作空间分析[J].机械制造与自动化,2011,40(1):138-140. 被引量：4

共引文献50

同被引文献16

  • 1CHENG Y M,PENG W X,CHUN H A.Concentric hole drilling in multiple planes for experimental investigation of five-axis reconfigurable precision hybrid machine[J].Automation&Control Systems,2015,76(5-8):1253-1262.
  • 2TZVI P B,GOLDENBERG A A,ZU J W.Design and analysis of a hybrid mobile robot mechanism with compounded locomotion and manipulation capability[J].Journal of Mechanical Design,Transactions of the ASME,2008,130(7):0723021-07230213.
  • 3KANAAN D,WENGER P,CHABLAT D.Kinematic analysis of a serial-parallel machine tool:The VERNE machine[J].Mechanism and Machine Theory,2009,44(2):487-498.
  • 4TSAI L W,JOSHI S.Kinematic analysis of 3-DOF position mechanisms for use in hybrid kinematic machines[J].Journal of Mechanical Design,2002,124(2):245-253.
  • 5GAO Z,ZHANG D.Performance analysis,mapping,and multiobjective optimization of a hybrid robotic machine tool[J].IEEE Transactions on Industrial Electronics,2015,62(1):423-433.
  • 6ROMDHANE L.Design and analysis of a hybrid serial-parallel manipulator[J].Mechanism and Machine Theory,1999,34(7):1037-1055.
  • 7KIM S M,KIM W,CHUNG J,et al.A hybrid 6-DOF mechanism with closed-form position solutions employing two 3-DOF modules with decoupled output motions[C]//Conference on Control and Automation,December 9-11,2009,Christchurch.New York:IEEE,2009:1027-1032.
  • 8WANG C Z,FANG Y F,GAO S,et al.Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation[J].Journal of Mechanisms and Robotics,2013,5(4):041003.
  • 9KIM J,PARK S,RYU J,et al.Design and analysis of a redundantly actuated parallel mechanism for rapid machining[J].IEEE Transactions on Robotics and Automation,2001,17(4):423-434.
  • 10黄真,赵永生,赵铁石.高等空间机构学[M].2版.北京:高等教育出版社,2014:119-120.

引证文献1

二级引证文献8

机械制造与自动化
2014年 第1期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部