Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model
As a model adopted in robot kinematics,MDH model is hardly mentioned in domestic literature.The MDH model about rotating joint is introduced in detail,taking a new type of hybrid palletizing robot as example.The kinematics equations of the robot are deduced by combining solving solely through refere...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.025 |
| _version_ | 1797819298536751104 |
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| author | Guo Ruifeng Peng Guangyu Yang Liu Yuan Chaofeng |
| author_facet | Guo Ruifeng Peng Guangyu Yang Liu Yuan Chaofeng |
| author_sort | Guo Ruifeng |
| collection | DOAJ |
| description | As a model adopted in robot kinematics,MDH model is hardly mentioned in domestic literature.The MDH model about rotating joint is introduced in detail,taking a new type of hybrid palletizing robot as example.The kinematics equations of the robot are deduced by combining solving solely through reference coordinate system with homogeneous transformation solution.The 5-3-5 method is used in trajectory planning,and the program is written by using MATLAB,corresponding kinematics simulation is completed in LMS Virtual.lab Motion.The correctness of theoretical derivation is verified through comparing the results of simulation with calculation.It provides a theoretical basis for establishing robot kinematics precision model and make up the lack of MDH model in domestic literature. |
| first_indexed | 2024-03-13T09:20:52Z |
| format | Article |
| id | doaj.art-17b5d3054a324f548ad202d6cc7d4eb6 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:20:52Z |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-17b5d3054a324f548ad202d6cc7d4eb62023-05-26T09:43:43ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014112212729928574Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH ModelGuo RuifengPeng GuangyuYang LiuYuan ChaofengAs a model adopted in robot kinematics,MDH model is hardly mentioned in domestic literature.The MDH model about rotating joint is introduced in detail,taking a new type of hybrid palletizing robot as example.The kinematics equations of the robot are deduced by combining solving solely through reference coordinate system with homogeneous transformation solution.The 5-3-5 method is used in trajectory planning,and the program is written by using MATLAB,corresponding kinematics simulation is completed in LMS Virtual.lab Motion.The correctness of theoretical derivation is verified through comparing the results of simulation with calculation.It provides a theoretical basis for establishing robot kinematics precision model and make up the lack of MDH model in domestic literature.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.025Hybrid robot;MDH model;Kinematics analysis;Trajectory planning;LMS Virtual.lab simulation |
| spellingShingle | Guo Ruifeng Peng Guangyu Yang Liu Yuan Chaofeng Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model Jixie chuandong Hybrid robot;MDH model;Kinematics analysis;Trajectory planning;LMS Virtual.lab simulation |
| title | Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model |
| title_full | Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model |
| title_fullStr | Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model |
| title_full_unstemmed | Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model |
| title_short | Kinematics Analysis and Simulation of A New Type of Hybrid Palletizing Robot based on MDH Model |
| title_sort | kinematics analysis and simulation of a new type of hybrid palletizing robot based on mdh model |
| topic | Hybrid robot;MDH model;Kinematics analysis;Trajectory planning;LMS Virtual.lab simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.02.025 |
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