Kinematics Modeling and Workspace Analysis of a 5-DOF Hydraulic Manipulator

被引：0
|
作者：
Li, Feiteng [1 ]
Zhu, Xiaocong [1 ]
Cao, Jian [2 ]
Yao, Bin [1 ,3 ]
机构：
[1] Zhejiang Univ, State Key Lab Fluid Power & Mechatron Syst, Hangzhou, Peoples R China
[2] Hefei Univ Technol, Sch Mech Engn, Hefei, Peoples R China
[3] Purdue Univ, Sch Mech Engn, W Lafayette, IN 47907 USA
来源：
CONFERENCE PROCEEDINGS OF 2019 5TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR) | 2019年
基金：
中国国家自然科学基金;
关键词：
Kinematics modeling; hydraulic manipulator; workspace; DESIGN;
D O I：
10.1109/iccar.2019.8813334
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focused on the kinematic modeling and workspace analysis of a 5 degrees of freedom(DOF) heavy-duty hydraulic manipulator system, which consists of four linear hydraulic cylinder and one rotary hydraulic cylinder. The kinematics model of the hydraulic manipulator is analyzed by modified D-H method (I-type kinematics) and geometric mapping algorithm (II-type kinematics) and is validated with simulation comparison of kinematic response predicted by theoretical kinematic modeling. Then, the workspace of the hydraulic manipulator is analyzed through random point method in SimMechanics. Lastly, The influence of cylinder stroke upon available workspace place is presented.
引用
收藏
页码：713 / 718
页数：6
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