Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic
The 3- RRRS mechanism is adopted to connect motion platform with static platform,which can achieve the 6 dimensions change of pose for static platform relative to moving platform. Releasing S vice,the mechanism configuration can be used for the general structure of reptiles bionic robot. Because the...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.009 |
| _version_ | 1826882013711302656 |
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| author | Zhang Yuhui Yang Xu Wang Liangwen Song Kangkang |
| author_facet | Zhang Yuhui Yang Xu Wang Liangwen Song Kangkang |
| author_sort | Zhang Yuhui |
| collection | DOAJ |
| description | The 3- RRRS mechanism is adopted to connect motion platform with static platform,which can achieve the 6 dimensions change of pose for static platform relative to moving platform. Releasing S vice,the mechanism configuration can be used for the general structure of reptiles bionic robot. Because the mechanism configuration has redundant drive characteristics,it can improve motion performance and work space of motion platform. The forward kinematics problem is studied. Firstly,according to the structure relationship,the motion equations including redundant drive variables are established. Secondly,the redundancy drive variables are solved by Bezout equation and variable substitution. Finally,a calculation model of the motion trajectory and direction matrix for motion platform are obtained. An analysis example is described. A reference for solving the similar problem is provided. |
| first_indexed | 2024-03-13T09:22:01Z |
| format | Article |
| id | doaj.art-3dc8d7af6a224ac295c17115f398a652 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T02:59:35Z |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-3dc8d7af6a224ac295c17115f398a6522025-01-10T14:16:49ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140424629925130Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive CharacteristicZhang YuhuiYang XuWang LiangwenSong KangkangThe 3- RRRS mechanism is adopted to connect motion platform with static platform,which can achieve the 6 dimensions change of pose for static platform relative to moving platform. Releasing S vice,the mechanism configuration can be used for the general structure of reptiles bionic robot. Because the mechanism configuration has redundant drive characteristics,it can improve motion performance and work space of motion platform. The forward kinematics problem is studied. Firstly,according to the structure relationship,the motion equations including redundant drive variables are established. Secondly,the redundancy drive variables are solved by Bezout equation and variable substitution. Finally,a calculation model of the motion trajectory and direction matrix for motion platform are obtained. An analysis example is described. A reference for solving the similar problem is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.0093-RRRS mechanismRedundant driveForward kinematicsBionic robot |
| spellingShingle | Zhang Yuhui Yang Xu Wang Liangwen Song Kangkang Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic Jixie chuandong 3-RRRS mechanism Redundant drive Forward kinematics Bionic robot |
| title | Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic |
| title_full | Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic |
| title_fullStr | Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic |
| title_full_unstemmed | Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic |
| title_short | Forward Kinematics Analysis of 3-RRRS Mechanism with Redundant Drive Characteristic |
| title_sort | forward kinematics analysis of 3 rrrs mechanism with redundant drive characteristic |
| topic | 3-RRRS mechanism Redundant drive Forward kinematics Bionic robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.009 |
| work_keys_str_mv | AT zhangyuhui forwardkinematicsanalysisof3rrrsmechanismwithredundantdrivecharacteristic AT yangxu forwardkinematicsanalysisof3rrrsmechanismwithredundantdrivecharacteristic AT wangliangwen forwardkinematicsanalysisof3rrrsmechanismwithredundantdrivecharacteristic AT songkangkang forwardkinematicsanalysisof3rrrsmechanismwithredundantdrivecharacteristic |