Kinematics and Workspace Analysis of an 8-DOF Space Manipulator

An 8-DOF manipulator with prismatic pair is proposed for space environment, which can complete equipment maintenance and object grabbing in space environment. The pose transformation matrix and forward kinematics equation of 8-DOF manipulator are derived by standard D-H parameter method. The simulat...

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Main Authors: Kai Yang, Jinying Huang
Format: Article
Language:zho
Published: Editorial Office of Journal of Mechanical Transmission 2021-03-01
Series:Jixie chuandong
Subjects:
Online Access:http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.024
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author Kai Yang
Jinying Huang
author_facet Kai Yang
Jinying Huang
author_sort Kai Yang
collection DOAJ
description An 8-DOF manipulator with prismatic pair is proposed for space environment, which can complete equipment maintenance and object grabbing in space environment. The pose transformation matrix and forward kinematics equation of 8-DOF manipulator are derived by standard D-H parameter method. The simulation model of the manipulator is established by Matlab robotics toolbox, and the simulation model is compared with the kinematics equation of the manipulator. Monte Carlo method is used to solve the workspace of the manipulator, and the point cloud of the workspace of the end effector of the manipulator is drawn. The trajectory planning of the manipulator is simulated by Matlab, and the displacement, velocity and acceleration curves of each joint in the motion process are drawn. The rationality of the structure design of the manipulator is verified, it provides a reference for the follow-up research work.
format Article
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institution Kabale University
issn 1004-2539
language zho
publishDate 2021-03-01
publisher Editorial Office of Journal of Mechanical Transmission
record_format Article
series Jixie chuandong
spelling doaj-art-03b28557c294453f9d7cb086fd18bc9c2025-01-10T14:53:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-03-01451471527492834Kinematics and Workspace Analysis of an 8-DOF Space ManipulatorKai YangJinying HuangAn 8-DOF manipulator with prismatic pair is proposed for space environment, which can complete equipment maintenance and object grabbing in space environment. The pose transformation matrix and forward kinematics equation of 8-DOF manipulator are derived by standard D-H parameter method. The simulation model of the manipulator is established by Matlab robotics toolbox, and the simulation model is compared with the kinematics equation of the manipulator. Monte Carlo method is used to solve the workspace of the manipulator, and the point cloud of the workspace of the end effector of the manipulator is drawn. The trajectory planning of the manipulator is simulated by Matlab, and the displacement, velocity and acceleration curves of each joint in the motion process are drawn. The rationality of the structure design of the manipulator is verified, it provides a reference for the follow-up research work.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.0248-degree-of-freedom manipulatorForward kinematicsWorkspaceMonte Carlo methodTrajectory planning
spellingShingle Kai Yang
Jinying Huang
Kinematics and Workspace Analysis of an 8-DOF Space Manipulator
Jixie chuandong
8-degree-of-freedom manipulator
Forward kinematics
Workspace
Monte Carlo method
Trajectory planning
title Kinematics and Workspace Analysis of an 8-DOF Space Manipulator
title_full Kinematics and Workspace Analysis of an 8-DOF Space Manipulator
title_fullStr Kinematics and Workspace Analysis of an 8-DOF Space Manipulator
title_full_unstemmed Kinematics and Workspace Analysis of an 8-DOF Space Manipulator
title_short Kinematics and Workspace Analysis of an 8-DOF Space Manipulator
title_sort kinematics and workspace analysis of an 8 dof space manipulator
topic 8-degree-of-freedom manipulator
Forward kinematics
Workspace
Monte Carlo method
Trajectory planning
url http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.03.024
work_keys_str_mv AT kaiyang kinematicsandworkspaceanalysisofan8dofspacemanipulator
AT jinyinghuang kinematicsandworkspaceanalysisofan8dofspacemanipulator