Kinematic analysis and simulation of a novel continuum robot for search and rescue

被引：0
|
作者：
Meng, Guangzhu [1 ]
Sun, Lingyu [1 ]
Zhang, Minglu [1 ]
Zhang, Minglu [1 ]
Meng, Xianchun [1 ]
Wang, Hongmei [1 ]
机构：
[1] Hebei Univ Technol, Sch Mech Engn, Tianjin 300130, Peoples R China
来源：
ADVANCED RESEARCH ON INTELLIGENT SYSTEMS AND MECHANICAL ENGINEERING | 2013年 / 644卷
关键词：
continuum robot; search and rescue; forward kinematics; product of exponentials formula; twist;
D O I：
10.4028/www.scientific.net/AMR.644.265
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a novel continuum robot for search and rescue is presented. A detailed formulation of fundamentally new kinematic model is then introduced. Kinematic analysis adopt product of exponentials formula, compare with conventional D-H method, this method is concise and simplicity. Finally, the forward kinematic simulation is completed by Matlab software.
引用
收藏
页码：265 / 270
页数：6
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