Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

被引：18
|
作者：
Wu, You [1 ]
Yang, Zhen [1 ]
Fu, Zhuang [1 ]
Fei, Jian [2 ]
Zheng, Hui [1 ]
机构：
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai, Peoples R China
[2] Shanghai Jiao Tong Univ, Ruijin Hosp, Shanghai, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2017年 / 14卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Hybrid robot; kinematics; dynamics; ADAMS simulation; Lagrange equation; WAIST-TRUNK SYSTEM; DIMENSIONAL SYNTHESIS; PARALLEL; DESIGN; MANIPULATORS;
D O I：
10.1177/1729881417716634
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
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页数：8
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