Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic

Zhang Yuhui; Yang Xu; Wang Liangwen; Song Kangkang

doi:10.16578/j.issn.1004.2539.2016.07.009

您当前的位置：

首页 >

文章列表页 >

Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic

更新时间：2022-10-20

- Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic
- Vol. 40, Issue 7, Pages: 42-46(2016)
- 作者机构：
  
  1. 黄河水利职业技术学院
  2. 黄河科技学院职业技术学院
  3. 郑州轻工业学院机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.07.009
  CLC：
扫描看全文
[1]张豫徽,杨许,王良文,宋康康.具有冗余驱动特征的3-RRRS机构的正运动学分析[J].机械传动,2016,40(07):42-46.

Zhang Yuhui, Yang Xu, Wang Liangwen, et al. Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic. [J]. 40(7):42-46(2016)
[1]张豫徽,杨许,王良文,宋康康.具有冗余驱动特征的3-RRRS机构的正运动学分析[J].机械传动,2016,40(07):42-46. DOI： 10.16578/j.issn.1004.2539.2016.07.009.

Zhang Yuhui, Yang Xu, Wang Liangwen, et al. Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic. [J]. 40(7):42-46(2016) DOI： 10.16578/j.issn.1004.2539.2016.07.009.

摘要

在动静平台之间采用3-RRRS机构连接,能够实现动平台相对于静平台的6维位姿变化。将S副释放,该机构构型可以用于爬行类仿生机器人的通用结构。该类机构构型由于具有冗余驱动的特征,能够改良动平台的运动性能与工作空间,本文对其正运动学问题进行研究。首先根据结构关系,建立包含冗余驱动变量的运动方程。然后通过Bezout方程及变量代换等,求解冗余驱动变量。最后,给出了动平台方向矩阵及运动轨迹的计算模型,并以算例进行了说明。本文的研究为同类问题的求解提供了参考。

Abstract

The 3- RRRS mechanism is adopted to connect motion platform with static platform,which can achieve the 6 dimensions change of pose for static platform relative to moving platform. Releasing S vice,the mechanism configuration can be used for the general structure of reptiles bionic robot. Because the mechanism configuration has redundant drive characteristics,it can improve motion performance and work space of motion platform. The forward kinematics problem is studied. Firstly,according to the structure relationship,the motion equations including redundant drive variables are established. Secondly,the redundancy drive variables are solved by Bezout equation and variable substitution. Finally,a calculation model of the motion trajectory and direction matrix for motion platform are obtained. An analysis example is described. A reference for solving the similar problem is provided.

关键词

3-RRRS机构冗余驱动正运动学仿生机器人

Keywords

3-RRRS mechanismRedundant driveForward kinematicsBionic robot

references

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Forward Kinematics and Workspace Analysis of a 6-DOF Dual-arm Operating System Based on the Screw Theory

Configuration and Motion Modeling of a New Parallel Machine Tool Based on 3-RRRS Mechanism

Solution for Forward Kinematics of Parallel Mechanism based on PSO-BPNN and Newton-Raphson Algorithm

Forward Kinematics Analysis of Quadruped Bionic Robot with Spine based on Dimensionality-reduction Method

Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation

Related Author

No data

Related Institution

School of Mechanical Engineering, outhwest Jiaotong University

School of Mechanical-electronic and Automobile Engineering，Xuchang Vocational Technical College

International Education College，Zhengzhou University of Light Industry

Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment，School of Mechanical and Electrical Engineering，Zhengzhou University of Light Industry

Department of Mechanic and Vehicle Engineering， Chongqing Jiaotong University

⁰