Title :
The kinematics analysis and simulation of the transposition manipulator
Author :
Zhenliang Li ; Wenliang Li ; Ya Li
Author_Institution :
Coll. of Mech. Eng., Tianjin Univ. of Sci. & Technol., Tianjin, China
Abstract :
A 3-DOF special transposition manipulator, which can grab fern thickness was designed. By using software of Solidworks, the virtual prototype of the manipulator was setup. Then the manipulator´s kinematics equations were set up and solverd by the method of D-H based on the software of ADAMS, the mechanism was simulated and analyzed, then its endeffector´s displacement, velocity curve were obtained, which provides an important reliance for the control of the manipulator. And the correctness of kinematids model is verified by simulation results.
Keywords :
control engineering computing; end effectors; manipulator kinematics; 3-DOF special transposition manipulator; ADAMS; Solidworks; end effector displacement; manipulator kinematics equations; velocity curve; virtual prototype; Analytical models; Joining processes; Joints; Kinematics; Manipulators; Solid modeling; ADAMS simulation; kinematics analysis; manipulator; the method of D-H;
Conference_Titel :
Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on
Conference_Location :
Harbin, Heilongjiang, China
Print_ISBN :
978-1-61284-087-1
DOI :
10.1109/EMEIT.2011.6023668
