Kinematics Analysis on Cubic Mechanism with Auxiliary Joints

DOI

10.2991/eers-15.2015.15How to use a DOI?

Keywords

hybrid manipulator; analytical geometry; forward solution; inverse solution; simulation

Abstract

A new type of hybrid cubic manipulator with six degree of freedom(DOF) suggested based on traditional serial manipulator and parallel manipulator, analytic geometry method adopted to find its forward solution of position, simple expression and exclusive result obtained, as well as its inverse solution of position discussed here, still exclusive solution found. Making use of software to simulate the manufacturing of a round trajectory, position and velocity and acceleration of each input parameter obtained, which can be verified through numerical computation, each input parameter decoupled very well, which greatly simplify the kinematics control of mechanism, perfect machine tool and so on can be developed based on the mechanism, research on the kinematics of this mechanism can provide reference to the practical application of it.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jianguo Luo
AU  - Maoyan He
AU  - Yuanyuan Liu
PY  - 2015/09
DA  - 2015/09
TI  - Kinematics Analysis on Cubic Mechanism with Auxiliary Joints
BT  - Proceedings of the 2015 International Conference on Environmental Engineering and Remote Sensing
PB  - Atlantis Press
SP  - 58
EP  - 61
SN  - 2352-538X
UR  - https://doi.org/10.2991/eers-15.2015.15
DO  - 10.2991/eers-15.2015.15
ID  - Luo2015/09
ER  -