Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs
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- 作者：Yi Lua ; b ; luyi@ysu.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Zhuohong Daia
- 关键词：Redundant hybrid manipulator ; Dynamics ; Kinematics
- 刊名：Mechanism and Machine Theory
- 出版年：2016
- 出版时间：September 2016
- 年：2016
- 卷：103
- 期：Complete
- 页码：222-235
- 全文大小：1038 K
文摘
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Construct a general redundant hybrid manipulator.
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Establish its unified recursive kinematics and dynamics formulae.
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Discover mapped relations between velocity of moving links and the input velocity.
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Transform inertial wrench of moving links into fixed coordinate system.
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Establish dynamics modeling of a novel 3SPR + 3SPR + 3RPS type manipulator.