Kinematics and Workspace Analysis of an 8-DOF Space Manipulator
An 8-DOF manipulator with prismatic pair is proposed for space environment， which can complete equipment maintenance and object grabbing in space environment. The pose transformation matrix and forward kinematics equation of 8-DOF manipulator are derived by standard D-H parameter method. The simulat...
| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.024 |
| _version_ | 1797819650823684096 |
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| author | Kai Yang Jinying Huang |
| author_facet | Kai Yang Jinying Huang |
| author_sort | Kai Yang |
| collection | DOAJ |
| description | An 8-DOF manipulator with prismatic pair is proposed for space environment， which can complete equipment maintenance and object grabbing in space environment. The pose transformation matrix and forward kinematics equation of 8-DOF manipulator are derived by standard D-H parameter method. The simulation model of the manipulator is established by Matlab robotics toolbox， and the simulation model is compared with the kinematics equation of the manipulator. Monte Carlo method is used to solve the workspace of the manipulator， and the point cloud of the workspace of the end effector of the manipulator is drawn. The trajectory planning of the manipulator is simulated by Matlab， and the displacement， velocity and acceleration curves of each joint in the motion process are drawn. The rationality of the structure design of the manipulator is verified， it provides a reference for the follow-up research work. |
| first_indexed | 2024-03-13T09:25:47Z |
| format | Article |
| id | doaj.art-03b28557c294453f9d7cb086fd18bc9c |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:25:47Z |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-03b28557c294453f9d7cb086fd18bc9c2023-05-26T09:33:04ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-01451471527492834Kinematics and Workspace Analysis of an 8-DOF Space ManipulatorKai YangJinying HuangAn 8-DOF manipulator with prismatic pair is proposed for space environment， which can complete equipment maintenance and object grabbing in space environment. The pose transformation matrix and forward kinematics equation of 8-DOF manipulator are derived by standard D-H parameter method. The simulation model of the manipulator is established by Matlab robotics toolbox， and the simulation model is compared with the kinematics equation of the manipulator. Monte Carlo method is used to solve the workspace of the manipulator， and the point cloud of the workspace of the end effector of the manipulator is drawn. The trajectory planning of the manipulator is simulated by Matlab， and the displacement， velocity and acceleration curves of each joint in the motion process are drawn. The rationality of the structure design of the manipulator is verified， it provides a reference for the follow-up research work.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.0248-degree-of-freedom manipulator;Forward kinematics;Workspace;Monte Carlo method;Trajectory planning |
| spellingShingle | Kai Yang Jinying Huang Kinematics and Workspace Analysis of an 8-DOF Space Manipulator Jixie chuandong 8-degree-of-freedom manipulator;Forward kinematics;Workspace;Monte Carlo method;Trajectory planning |
| title | Kinematics and Workspace Analysis of an 8-DOF Space Manipulator |
| title_full | Kinematics and Workspace Analysis of an 8-DOF Space Manipulator |
| title_fullStr | Kinematics and Workspace Analysis of an 8-DOF Space Manipulator |
| title_full_unstemmed | Kinematics and Workspace Analysis of an 8-DOF Space Manipulator |
| title_short | Kinematics and Workspace Analysis of an 8-DOF Space Manipulator |
| title_sort | kinematics and workspace analysis of an 8 dof space manipulator |
| topic | 8-degree-of-freedom manipulator;Forward kinematics;Workspace;Monte Carlo method;Trajectory planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.024 |
| work_keys_str_mv | AT kaiyang kinematicsandworkspaceanalysisofan8dofspacemanipulator AT jinyinghuang kinematicsandworkspaceanalysisofan8dofspacemanipulator |