scholarly journals Forward kinematics analysis and experiment of hybrid high-altitude board installation robot based on screw theory

2019 ◽  
Vol 11 (4) ◽  
pp. 168781401984626 ◽  
Author(s):  
Yongbin Li ◽  
Yipeng Zhao ◽  
Tian Zhang ◽  
Tiejun Li
Keyword(s):  
High Altitude ◽  
Screw Theory ◽  
Forward Kinematics ◽  
Kinematics Analysis

A novel 4-RRCR parallel mechanism based on screw theory and its kinematics analysis

2012 ◽  
Vol 227 (9) ◽  
pp. 2039-2048 ◽  
Author(s):  
Sheng Guo ◽  
Congzhe Wang ◽  
Haibo Qu ◽  
Yuefa Fang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Elimination Method ◽  
Direct Kinematics

In this article, a novel 4-RRCR parallel mechanism is introduced based on screw theory, and its kinematics and singularity are studied systematically. First, the degree of freedom analysis is performed using the screw theory. The formulas for solving the inverse and direct kinematics are derived. Second, a recursive elimination method is proposed to solve the Jacobian matrix based on the algebra operation of reciprocal product. Then, three kinds of singularity, i.e. limb, platform, and actuation singularities are analyzed. Finally, the analysis proves that the proposed mechanism possesses two advantages of simple forward kinematics and no platform singularity.

Design and kinematics analysis of a new 3CCC parallel mechanism

Robotica ◽  
2010 ◽  
Vol 28 (7) ◽  
pp. 1065-1072 ◽  
Author(s):  
Dongming Gan ◽  
Qizheng Liao ◽  
Jian S. Dai ◽  
Shimin Wei
Keyword(s):  
Parallel Mechanism ◽  
Screw Theory ◽  
Polynomial Equation ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Eighth Order ◽  
Order Polynomial ◽  
Geometrical Constraints ◽  
Geometry Analysis ◽  
Theoretical Results

SUMMARYA CCC limb and a new 3CCC parallel mechanism have been designed in this paper based on geometry analysis. Their mobility and geometrical constraints are discussed by using screw theory and geometrical equations separately. Following that both the inverse and forward kinematics of the 3CCC parallel mechanism are proposed, in which Dixon's resultant is used to get the forward solutions for the orientation and a eighth-order polynomial equation in one unknown is obtained, leading to the results for the position analysis, numerical examples confirm these theoretical results. A short comparison with the traditional Stewart platforms is presented in terms of kinematics, workspace and trajectory planning.

Design and Kinematics Analysis of a Bionic Mechanical Goat Hoof

2013 ◽  
Vol 461 ◽  
pp. 191-200 ◽  
Author(s):  
Qun Zhang ◽  
Xi Lun Ding ◽  
Kun Xu ◽  
Hao Chen
Keyword(s):  
Mechanism Design ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Forward Kinematics ◽  
Motion Simulation ◽  
Kinematics Analysis

Different ground environments call for corresponding foot mechanism design. As for unstructured terrain, through the analysis of goat hooves structure, a robot foot mechanism simulating the goat hooves is designed in our research. According to screw theory and generalized Kutzbach-Grübler mobility criterion, degree of freedom of the bionic goat hoof mechanism is calculated. Then forward kinematics is built based on mechanism geometry. Motion simulation is carried out to verify the algorithms of forward kinematics.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

Kinematics Analysis of Generalized SRU Manipulator Based on Screw Theory

2018 ◽  
Author(s):  
Wenwei Li ◽  
Guangbing Zhou ◽  
Xuefeng Zhou ◽  
Zaili Chen ◽  
Liang Wu ◽  
...  
Keyword(s):  
Screw Theory ◽  
Kinematics Analysis

Kinematics Analysis of a Hot-Line Live Working Manipulator

2014 ◽  
Vol 610 ◽  
pp. 28-34 ◽  
Author(s):  
Xiao Lin Ma ◽  
Hui Chai ◽  
Yun Jiang Li
Keyword(s):  
Analytical Solutions ◽  
Inverse Kinematics ◽  
Transformation Method ◽  
Forward Kinematics ◽  
Euler Angles ◽  
Kinematics Analysis ◽  
Hydraulic Actuator ◽  
End Effector

This paper introduces the development of hot-line live working manipulators and gives a new configuration manipulator driven by hydraulic actuator firstly. Then, its forward kinematics equations are derived with homogenous transformation method. Finally, the analytical solutions of its inverse kinematics are solved under the condition that the posture of the end-effector is known and given with z-y-z Euler angles.

Kinematics Analysis and Simulation of the Power-on-Live Manipulator

2014 ◽  
Vol 709 ◽  
pp. 316-322
Author(s):  
Xu Dong ◽  
Zhong Cai Zheng ◽  
Yan Gao ◽  
Zhen Ting Jiang ◽  
Hai Yong Xiao
Keyword(s):  
Numerical Simulation ◽  
Dynamic Simulation ◽  
Hydraulic System ◽  
Inverse Kinematics ◽  
Simulation Software ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Six Dof ◽  
Forward And Inverse Kinematics

The Power-On-Live Manipulator with hydraulic system can complete many different repair works in the Substation. This paper focuses on the study of the kinematics of six DOF manipulator, and establishes the forward kinematics equation based on the analysis of the whole power-on-live manipulator. The methods of analytical and geometric are used to complete the power-on-live manipulator’s inverse kinematics calculations, and then the effectiveness of the power-on-live manipulator’s forward and inverse kinematics are verified by the numerical simulation software and the dynamic simulation software.

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