Kinematics analysis of a 5-DOF anthropopathic arm based on Sarrus linkage

被引：1

作者：

Liao, Bo ^{[1
]}

Shang, Jianzhong ^{[1
]}

Ernest, Appleton ^{[2
]}

Yang, Zheng ^{[1
]}

机构：

[1] School of Mechatronics Engineering and Automation, National University of Defense Technology

[2] School of Engineering and Computer Science, Durham University

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2013年 / 49卷 / 03期

关键词：

Anthropopathic arm; Kinematics; Robot; Sarrus; Workspace;

D O I：

10.3901/JME.2013.03.018

中图分类号：

学科分类号：

摘要：

A novel robotic anthropopathic arm employing Sarrus linkage as its joints is proposed and a 5-DOF anthropopathic arm based on Sarrus linkage is designed according to the structure characteristics and deficiency of general robotic arms. In order to verify the advantages and lay a foundation for optimization of structure design, the forward kinematics characteristics are analyzed with homogeneous coordinates transformation method to obtain the workspace. The posture transformation matrix is derived. The trajectory of the centroid of wrist is plotted, and the results prove that the proposed robotic arm is possessed with common characteristics of general arms, and can extend its workspace. Besides, the robotic arm is highly flexible. The novel robotic anthropopathic arm with Sarrus linkage is able to overcome the limitations of links and expand the workspace, which is superior over other arms, to satisfy the needs of different working conditions. © 2013 Journal of Mechanical Engineering.

引用

页码：18 / 23

页数：5

共 18 条

[1]

Fredrik L., Erik J., Michael F., Simultaneously learning to recognize and control a low-cost robotic arm, Image and Computing, 27, pp. 1729-1739, (2009)

[2]

Zheng Y., Jianzhong S., Nan C., Et al., A method for path planning of hydraulic manipulator, International Conference on Measuring Technology and Mechatronics Automation, 2, pp. 8-12, (2009)

[3]

John R.R., Low-cost teleoperable robotic arm, Mechatronics, 19, pp. 774-779, (2009)

[4]

Yang Z., Shang J., Wang B., Et al., Study on trajectory planning for hydraulic-drive manipulator, Machine Design and Research, 25, 2, pp. 47-51, (2009)

[5]

Wang Y., Jin Z., Dynamics modeling and robust trajectory tracking control for a class of hybrid humanoid arm based on neural network, Chinese Journal of Mechanical Engineering, 22, 3, pp. 355-363, (2009)

[6]

Guan Y., Jiang L., Zhang X., Et al., 1-DOF joint modules and their applications in new robotic systems, IEEE International Conference on Robotics and Biomimetics, pp. 1905-1910, (2009)

[7]

Mark L.G., Michael D.N., Design of a novel 3 degree of freedom robotic joint, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5146-5152, (2009)

[8]

Elie S., Alon W., Howie C., Three degrees-of-freedom joint for spatial hyper-redundant robots, Mechanism and Machine Theory, 41, pp. 170-190, (2006)

[9]

Liu H., Huang T., Chetwynd D.G., Et al., Kinematic design of 5-DOF hybrid robot with large workspace/limb-stroke ratio, Chinese Journal of Mechanical Engineering, 43, 6, pp. 14-20, (2007)

[10]

Jin Z., Gao F., Novel 6-SPS parallel 3-dimensional platform manipulator and its force/motion transmission analysis, Chinese Journal of Mechanical Engineering, 15, 4, pp. 298-302, (2002)

← 1 2 →