The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in space
The Lie group Denavit–Hartenberg method and application in the parallel hexapod robot are researched. The hexapod robot and the ground form opened and closed loop alternately; the complete kinematics equation cannot be derived by Denavit–Hartenberg method with a trigonometric function type. The comp...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2017-02-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016688849 |
| _version_ | 1818899601147559936 |
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| author | Long Bai Zhi-Feng Dong Xin-Sheng Ge |
| author_facet | Long Bai Zhi-Feng Dong Xin-Sheng Ge |
| author_sort | Long Bai |
| collection | DOAJ |
| description | The Lie group Denavit–Hartenberg method and application in the parallel hexapod robot are researched. The hexapod robot and the ground form opened and closed loop alternately; the complete kinematics equation cannot be derived by Denavit–Hartenberg method with a trigonometric function type. The complete kinematics model of the hexapod robot is constructed with the improved Denavit–Hartenberg method. The numerical solving strategy is schemed. The simulation results provide the positive and athwart kinematics response relation during the lift and forward patterns in space. The research shows that the complete kinematics model can be constructed by the Lie group Denavit–Hartenberg method; the numerical calculation method can solve the pose–attitude response correctly. |
| first_indexed | 2024-12-19T19:50:33Z |
| format | Article |
| id | doaj.art-2f156858613447e6ad0d9500b71df71c |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-19T19:50:33Z |
| publishDate | 2017-02-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-2f156858613447e6ad0d9500b71df71c2022-12-21T20:08:00ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402017-02-01910.1177/1687814016688849The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in spaceLong Bai0Zhi-Feng Dong1Xin-Sheng Ge2School of Mechanical Electronic & Information Engineering, China University of Mining & Technology, Beijing, Beijing, ChinaSchool of Mechanical Electronic & Information Engineering, China University of Mining & Technology, Beijing, Beijing, ChinaSchool of Mechanical & Electrical Engineering, Beijing Information Science & Technology University, Beijing, ChinaThe Lie group Denavit–Hartenberg method and application in the parallel hexapod robot are researched. The hexapod robot and the ground form opened and closed loop alternately; the complete kinematics equation cannot be derived by Denavit–Hartenberg method with a trigonometric function type. The complete kinematics model of the hexapod robot is constructed with the improved Denavit–Hartenberg method. The numerical solving strategy is schemed. The simulation results provide the positive and athwart kinematics response relation during the lift and forward patterns in space. The research shows that the complete kinematics model can be constructed by the Lie group Denavit–Hartenberg method; the numerical calculation method can solve the pose–attitude response correctly.https://doi.org/10.1177/1687814016688849 |
| spellingShingle | Long Bai Zhi-Feng Dong Xin-Sheng Ge The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in space Advances in Mechanical Engineering |
| title | The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in space |
| title_full | The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in space |
| title_fullStr | The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in space |
| title_full_unstemmed | The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in space |
| title_short | The closed-loop kinematics modeling and numerical calculation of the parallel hexapod robot in space |
| title_sort | closed loop kinematics modeling and numerical calculation of the parallel hexapod robot in space |
| url | https://doi.org/10.1177/1687814016688849 |
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