A Numerical Approach for the Inverse and Forward Kinematic Analysis of 5R Parallel Manipulator

被引：0

作者：

Sosa-Lopez, Enrique D. ^{[1
]}

Arias-Montiel, Manuel ^{[2
]}

Lugo-Gonzalez, Esther ^{[3
]}

机构：

[1] Univ Tecnol Mixteca, Postgrad Div, Huajuapan De Leon, Oaxaca, Mexico

[2] Univ Tecnol Mixteca, Inst Elect & Mechatron, Huajuapan De Leon, Oaxaca, Mexico

[3] Univ Tecnol Mixteca, CONACYT, Huajuapan De Leon, Oaxaca, Mexico

来源：

2017 14TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2017年

关键词：

OPTIMUM DESIGN; PLANAR; WORKSPACE; SINGULARITY; MECHANISMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a numerical approach for the position, velocity and acceleration analysis for a 5R parallel manipulator is presented. 5R parallel manipulator is a two degrees of freedom planar mechanism which has been extensively studied by analytical methods. In this work, the use of computational tools such as Matlab and ADAMS is proposed in order to solve the inverse and forward kinematic problem of a particular type of 5R symmetric parallel manipulator. The obtained numerical results are validated by comparing them with analytical methods reported in the literature. This numerical approach allows for the co- simulation with other computational tools for the creation of virtual prototypes and it can save time and resources in the development of 5R parallel manipulator applications.

引用

页数：6

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