The displacement analysis of series-parallel 7-DOF redundant robot

被引：0
|
作者：
Da, Xu [1 ]
Ying, Zhang [1 ]
Tian Shufeng [1 ]
Bing, Wang [1 ]
Wang Zhongsheng [1 ]
机构：
[1] Acad Armored Forces Engn China, Dept Arm Engn, Beijing 100072, Peoples R China
来源：
ISTM/2007: 7TH INTERNATIONAL SYMPOSIUM ON TEST AND MEASUREMENT, VOLS 1-7, CONFERENCE PROCEEDINGS | 2007年
关键词：
robot; displacement analysis; series-parallel; redundancy;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new series-parallel 7-DOF redundant robot system is established, in which the spherical orthogonal 3RRR mechanism acts as shoulder and wrist and crank-block mechanism acts as elbow. Joint inverse displacement solution is solved by analyzing the parameter characteristic of the spherical orthogonal 3RRR mechanism. Direct displacement solution of the system can be obtained by using DH (Denavit-Hartenberg) method, which provides a base for analyzing and computing of the working space, operating speed and force in this system.
引用
收藏
页码：2857 / 2860
页数：4
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