DocumentCode :
2773741
Title :
The kinematics analysis for a five DOF serial-parallel manipulator with RP-(2-RRU/1-RUU) structure
Author :
Lv, Chenglong ; Hu, Ying ; Wan, Zhong ; Zhang, Jianwei
fYear :
2011
fDate :
7-10 Aug. 2011
Firstpage :
743
Lastpage :
748
Abstract :
In this paper, the serial and parallel manipulator with RP-(2-RRU/1-RUU) Structure is developed. Firstly, we will establish the coordinate system for the serial and parallel manipulator and derive its spiral movement through the Spiral Principle. Then according to the spiral movement, we will get its DOF. Secondly, we will describe the solving process of the inverse kinematics for the serial and parallel manipulator. In order to be sure that the solving process is correct, thirdly, we will simply check whether the kinematics inverse for the parallel part is right. In the end, some conclusions will be derived from the analysis process for the whole paper.
Keywords :
manipulator kinematics; RP-(2-RRU/1-RUU) structure; five DOF serial-parallel manipulator; inverse kinematics; kinematics analysis; spiral principle; Equations; Joints; Kinematics; Manipulators; Robot kinematics; Spirals; kinematics; serial-parallel; workspace;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics and Automation (ICMA), 2011 International Conference on
Conference_Location :
Beijing
ISSN :
2152-7431
Print_ISBN :
978-1-4244-8113-2
Type :
conf
DOI :
10.1109/ICMA.2011.5985754
Filename :
5985754
Link To Document :
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