Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator
A study on the issue that the forward kinematics and workspace of a manipulator with 8--DOF is carried out.Firstly,according to the structural characteristics of the manipulator,the link coordinate system of manipulator are established by using D-H method,and its forward kinematics is obtained.Secon...
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| Format: | Article |
| Language: | zho |
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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.1004.2539.2016.04.020 |
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| _version_ | 1841547886539571200 |
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| author | Li Yawei Huang Jinying |
| author_facet | Li Yawei Huang Jinying |
| author_sort | Li Yawei |
| collection | DOAJ |
| description | A study on the issue that the forward kinematics and workspace of a manipulator with 8--DOF is carried out.Firstly,according to the structural characteristics of the manipulator,the link coordinate system of manipulator are established by using D-H method,and its forward kinematics is obtained.Secondly,the simulation model of manipulator is set up by using the MATLAB Robotics Toolbox,and the correctness of the kinematics forward solution is testified.Finally,according to the position vector of the end actuator,the Monte Carlo method is applied to analyze the manipulator workspace,and the workspace range of the manipulator end actuator is acquired,and it is consistent with the design parameters of the manipulator. |
| format | Article |
| id | doaj-art-49f6eebd3d8046d384a4dd13185c83fe |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-49f6eebd3d8046d384a4dd13185c83fe2025-01-10T14:18:19ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140949629923519Analysis of the Forward Kinematics and Workspace of 8-DOF ManipulatorLi YaweiHuang JinyingA study on the issue that the forward kinematics and workspace of a manipulator with 8--DOF is carried out.Firstly,according to the structural characteristics of the manipulator,the link coordinate system of manipulator are established by using D-H method,and its forward kinematics is obtained.Secondly,the simulation model of manipulator is set up by using the MATLAB Robotics Toolbox,and the correctness of the kinematics forward solution is testified.Finally,according to the position vector of the end actuator,the Monte Carlo method is applied to analyze the manipulator workspace,and the workspace range of the manipulator end actuator is acquired,and it is consistent with the design parameters of the manipulator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.04.020ManipulatorForward kinematicsWorkspace |
| spellingShingle | Li Yawei Huang Jinying Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator Jixie chuandong Manipulator Forward kinematics Workspace |
| title | Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator |
| title_full | Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator |
| title_fullStr | Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator |
| title_full_unstemmed | Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator |
| title_short | Analysis of the Forward Kinematics and Workspace of 8-DOF Manipulator |
| title_sort | analysis of the forward kinematics and workspace of 8 dof manipulator |
| topic | Manipulator Forward kinematics Workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.04.020 |
| work_keys_str_mv | AT liyawei analysisoftheforwardkinematicsandworkspaceof8dofmanipulator AT huangjinying analysisoftheforwardkinematicsandworkspaceof8dofmanipulator |