Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator
Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-11-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016680309 |
| _version_ | 1818256162467872768 |
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| author | Wanjin Guo Ruifeng Li Chuqing Cao Yunfeng Gao |
| author_facet | Wanjin Guo Ruifeng Li Chuqing Cao Yunfeng Gao |
| author_sort | Wanjin Guo |
| collection | DOAJ |
| description | Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype. |
| first_indexed | 2024-12-12T17:23:22Z |
| format | Article |
| id | doaj.art-5b9d60518be447c1aac8eb27938befcf |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-12T17:23:22Z |
| publishDate | 2016-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-5b9d60518be447c1aac8eb27938befcf2022-12-22T00:17:35ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402016-11-01810.1177/1687814016680309Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulatorWanjin Guo0Ruifeng Li1Chuqing Cao2Yunfeng Gao3State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P.R. ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P.R. ChinaWuhu HIT Robot Technology Research Institute Co., Ltd, Wuhu, P.R. ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, P.R. ChinaHybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype.https://doi.org/10.1177/1687814016680309 |
| spellingShingle | Wanjin Guo Ruifeng Li Chuqing Cao Yunfeng Gao Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator Advances in Mechanical Engineering |
| title | Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator |
| title_full | Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator |
| title_fullStr | Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator |
| title_full_unstemmed | Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator |
| title_short | Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator |
| title_sort | kinematics dynamics and control system of a new 5 degree of freedom hybrid robot manipulator |
| url | https://doi.org/10.1177/1687814016680309 |
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