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Analysys of Mechanisms and Simulation of 3-RPS+RP 5-DOF Hybrid Robotic Arm

Author: CuiPei
Tutor: ZhengKuiJing
School: Yanshan University
Course: Mechanical and Electronic Engineering
Keywords: Hybrid manipulator Five degrees of freedom Kinematics Statics Jacobian matrix
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 176
Quote: 2
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Abstract


Requirements to meet the robot then play table tennis , we propose a new parallel robot rigidity , high accuracy , high speed , low inertia, and series robots work station large , good flexibility , etc. hybrid manipulator . Institutional theory of the robotic arm , and the establishment of a virtual prototype simulation analysis , including the following aspects: 3 - RPS parallel mechanism based on a five- degree-of-freedom hybrid manipulator . DH parameters and XYZ Euler angles manipulator kinematics analysis , derive position , speed inverse solution formula , speed Jacobian matrix , proven 3 - RPS parallel mechanism of movement symmetry , and proposes a to detect the position and orientation of the 3-RPS parallel mechanism . Were analyzed and described the performance of the movement of the robot arm , the limit boundary method to search for the manipulator 3D workspace and dexterity of the manipulator Jacobian matrix condition number , to study the distribution of the the manipulator dexterity in the workspace , as well as structural parameters and pose parameters dexterity . Manipulator static analysis , static equilibrium equation is derived , the establishment of the force Jacobian matrix to determine the mapping between the manipulator external force and the driving force and structural binding , validation speed mapping and forces mapping between the dual relationship . SolidWorks and ADAMS software design robotic arm virtual prototype , trajectory planning based on kinematics and dynamics simulation analysis to verify the correctness of the theoretical analysis and provide a reliable basis for the design and selection of motion control robotic arm .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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