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Kinematics/statics analysis of a novel serial-parallel robotic arm with hand
Yi Lu,Zhuohong Dai,Nijia Ye,Peng Wang 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.10
A robotic arm with fingered hand generally has multi-functions to complete various complicated operations. A novel serial-parallel roboticarm with a hand is proposed and its kinematics and statics are studied systematically. A 3D prototype of the serial-parallel roboticarm with a hand is constructed and analyzed by simulation. The serial-parallel robotic arm with a hand is composed of an upper 3RPSparallel manipulator, a lower 3SPR parallel manipulator and a hand with three finger mechanisms. Its kinematics formulae for solving thedisplacement, velocity, acceleration of are derived. Its statics formula for solving the active/constrained forces is derived. Its reachableworkspace and orientation workspace are constructed and analyzed. Finally, an analytic example is given for solving the kinematics andstatics of the serial-parallel robotic arm with a hand and the analytic solutions are verified by a simulation mechanism.