Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator

被引:13
|
作者
Guo, Wanjin [1 ]
Li, Ruifeng [1 ]
Cao, Chuqing [2 ,3 ]
Gao, Yunfeng [1 ]
机构
[1] Harbin Inst Technol, State Key Lab Robot & Syst, 92 West Dazhi St, Harbin 150001, Peoples R China
[2] Nanjing Univ Sci & Technol, Sch Mech Engn, Nanjing, Jiangsu, Peoples R China
[3] Wuhu HIT Robot Technol Res Inst Co Ltd, Wuhan, Peoples R China
关键词
Robotics; hybrid robot manipulator; kinematics; dynamics; control system; PARALLEL MANIPULATOR; DESIGN;
D O I
10.1177/1687814016680309
中图分类号
O414.1 [热力学];
学科分类号
摘要
Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype.
引用
收藏
页码:1 / 19
页数:19
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