Kinematics and Statics of Manipulators
首发时间:2009-03-23
Abstract:As the kinematics and statics play a very important role in determining the actuating inputs and the effective loads that the end-effector sustains, this paper focuses on this issue and proposes an analytical process to study the forward and inverse kinematics and statics of spatial manipulators. As series manipulators and parallel manipulators show different features in kinematics and statics, this paper therefore discusses them separately. Firstly, the forward and inverse velocity problems of the manipulator linkages are investigated with reciprocal screw theory. Then, the static balance conditions together with forward and inverse statics of the manipulator linkages are established through virtual power theory. In the kinematics analysis, the primary conditions for feasible motions of an end-effector are addressed through velocity screws. Illustrative examples indicate that the method proposed in this paper can be used to guide the singularity identification, path planning and feasible motion determination.
keywords: Kinematics and Statics Series Manipulators Parallel Manipulators Mechanisms
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Kinematics and Statics of Manipulators
摘要:As the kinematics and statics play a very important role in determining the actuating inputs and the effective loads that the end-effector sustains, this paper focuses on this issue and proposes an analytical process to study the forward and inverse kinematics and statics of spatial manipulators. As series manipulators and parallel manipulators show different features in kinematics and statics, this paper therefore discusses them separately. Firstly, the forward and inverse velocity problems of the manipulator linkages are investigated with reciprocal screw theory. Then, the static balance conditions together with forward and inverse statics of the manipulator linkages are established through virtual power theory. In the kinematics analysis, the primary conditions for feasible motions of an end-effector are addressed through velocity screws. Illustrative examples indicate that the method proposed in this paper can be used to guide the singularity identification, path planning and feasible motion determination.
关键词: Kinematics and Statics; Series Manipulators; Parallel Manipulators; Mechanisms
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