模块化混联超冗余度机器人的位置正解研究
A method for the forward position solution of the modular hybrid hyper-redundant robot is presented.The symbolic solution for the forward position of basic module 3-RPS parallel manipulator is obtained by using the Sylvester resultant elimination method.The output platform and fixed platform positio...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2012-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2012.11.006 |
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| author | 刘银龙 李立 王蕴华 谢进 陈永 |
| author_facet | 刘银龙 李立 王蕴华 谢进 陈永 |
| author_sort | 刘银龙 |
| collection | DOAJ |
| description | A method for the forward position solution of the modular hybrid hyper-redundant robot is presented.The symbolic solution for the forward position of basic module 3-RPS parallel manipulator is obtained by using the Sylvester resultant elimination method.The output platform and fixed platform position relationship of the n（3-RPS） manipulator is gotten by the homogeneous coordinate transformation matrix.The method,using a numerical examples for the analysis of the position and orientation of the 4（3-RPS） hyper-redundant,is given to demonstrate the validity of the method symbolic solution. |
| format | Article |
| id | doaj-art-cd540e1db628443e9e4ecddd0f448f5e |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2012-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-cd540e1db628443e9e4ecddd0f448f5e2025-08-20T03:17:52ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392012-01-013658+1488651342模块化混联超冗余度机器人的位置正解研究刘银龙李立王蕴华谢进陈永A method for the forward position solution of the modular hybrid hyper-redundant robot is presented.The symbolic solution for the forward position of basic module 3-RPS parallel manipulator is obtained by using the Sylvester resultant elimination method.The output platform and fixed platform position relationship of the n（3-RPS） manipulator is gotten by the homogeneous coordinate transformation matrix.The method,using a numerical examples for the analysis of the position and orientation of the 4（3-RPS） hyper-redundant,is given to demonstrate the validity of the method symbolic solution.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2012.11.006 |
| spellingShingle | 刘银龙 李立 王蕴华 谢进 陈永 模块化混联超冗余度机器人的位置正解研究 Jixie chuandong |
| title | 模块化混联超冗余度机器人的位置正解研究 |
| title_full | 模块化混联超冗余度机器人的位置正解研究 |
| title_fullStr | 模块化混联超冗余度机器人的位置正解研究 |
| title_full_unstemmed | 模块化混联超冗余度机器人的位置正解研究 |
| title_short | 模块化混联超冗余度机器人的位置正解研究 |
| title_sort | 模块化混联超冗余度机器人的位置正解研究 |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2012.11.006 |
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