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Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
| Content Provider | SAGE Publishing |
|---|---|
| Author | Wu, You Yang, Zhen Fu, Zhuang Fei, Jian Zheng, Hui |
| Copyright Year | 2017 |
| Abstract | In this article, a novel five-degrees-of-freedom hybrid robot is proposed and its kinematics and dynamics are analyzed systematically. First, the mechanism is designed. It is composed of a traditional three-degrees-of-freedom delta robot and a two-degrees-of-freedom serial mechanism. Second, the forward kinematics is established by geometric method, and the inverse kinematics is established by Denavit-Hartenberg (D-H) matrix method. Third, based on the principle of virtual work, Lagrange equations of dynamics are deduced. Finally, the feasibility and advantage of the proposed robot are verified by simulation and experiment. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881417716634?download=true |
| ISSN | 17298806 |
| Issue Number | 3 |
| Volume Number | 14 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881417716634 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2017-06-27 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2017 |
| Subject Keyword | kinematics dynamics Lagrange equation Hybrid robot ADAMS simulation |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
