Design of a New Type of Underactuated Manipulator
According to the demand of clamping the medicine box proposed by the medicine factory,a new design scheme of underactuated manipulator is presented.The pneumatic drive is used in this design scheme of the manipulator,and using the theory of variable degree of freedom and dead center of mechanism,the...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.03.044 |
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| _version_ | 1841548194074329088 |
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| author | Bin Peng Jiang Gang Cheng Qian |
| author_facet | Bin Peng Jiang Gang Cheng Qian |
| author_sort | Bin Peng |
| collection | DOAJ |
| description | According to the demand of clamping the medicine box proposed by the medicine factory,a new design scheme of underactuated manipulator is presented.The pneumatic drive is used in this design scheme of the manipulator,and using the theory of variable degree of freedom and dead center of mechanism,the actions of reliable clamping and lifting to medicine box are realized by using single power source.On this basis,through the structure analysis and calculation of its force,the function of manipulator is analyzed and the theoretical results are actually verified by entity model.The analysis of the manipulator shows that stability performance,large force clamping and the convenience of operation reached the the design requirements. |
| format | Article |
| id | doaj-art-06ec474f902748b09f942266978f2895 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-06ec474f902748b09f942266978f28952025-01-10T14:08:19ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139868929915679Design of a New Type of Underactuated ManipulatorBin PengJiang GangCheng QianAccording to the demand of clamping the medicine box proposed by the medicine factory,a new design scheme of underactuated manipulator is presented.The pneumatic drive is used in this design scheme of the manipulator,and using the theory of variable degree of freedom and dead center of mechanism,the actions of reliable clamping and lifting to medicine box are realized by using single power source.On this basis,through the structure analysis and calculation of its force,the function of manipulator is analyzed and the theoretical results are actually verified by entity model.The analysis of the manipulator shows that stability performance,large force clamping and the convenience of operation reached the the design requirements.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.03.044ManipulatorUnderactuatedDead center of mechanismPrinciple of virtual work |
| spellingShingle | Bin Peng Jiang Gang Cheng Qian Design of a New Type of Underactuated Manipulator Jixie chuandong Manipulator Underactuated Dead center of mechanism Principle of virtual work |
| title | Design of a New Type of Underactuated Manipulator |
| title_full | Design of a New Type of Underactuated Manipulator |
| title_fullStr | Design of a New Type of Underactuated Manipulator |
| title_full_unstemmed | Design of a New Type of Underactuated Manipulator |
| title_short | Design of a New Type of Underactuated Manipulator |
| title_sort | design of a new type of underactuated manipulator |
| topic | Manipulator Underactuated Dead center of mechanism Principle of virtual work |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.03.044 |
| work_keys_str_mv | AT binpeng designofanewtypeofunderactuatedmanipulator AT jianggang designofanewtypeofunderactuatedmanipulator AT chengqian designofanewtypeofunderactuatedmanipulator |