Kinematics Modeling of Hydraulic Manipulating Test-bed

被引：0

作者：

Xue Liangru ^{[1
]}

Wang Shaoping ^{[1
]}

Zhao Sijun ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Sch Automat Sci & Elect Engn, Beijing 100083, Peoples R China

来源：

SEVENTH INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION AND CONTROL TECHNOLOGY: SENSORS AND INSTRUMENTS, COMPUTER SIMULATION, AND ARTIFICIAL INTELLIGENCE | 2008年 / 7127卷

关键词：

kinematics; robot; position control; models;

D O I：

10.1117/12.806354

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The manipulating test-bed is a typical parallel mechanism, in which the three actuators move according to given regulation to change the gesture of swash plate. Directing to the triangle distribution of three actuators, the characteristic of the test-bed structure was analyzed, and the function of this test-bed was investigated. The coordinate system of the parallel mechanism was established, and the freedom of the parallel mechanism was calculated. According to the analysis of the manipulating test-bed aforementioned, the restriction condition of the parallel mechanism was analyzed when the gesture of the swash plate changed, and then the forward and inverse position solution were given. The position solution will guide the actuator control of test-bed with high precision.

引用

页数：6

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