Analysis of the Kinematics and Workspace of a Tripod Parallel Robot
By analyzing the structure of Tripod parallel robot,a single branch chain analysis model is established. The kinematics analysis of robot is carried out by means of geometric analysis,and the expression of inverse kinematics is obtained. On the basis of the inverse solution analysis,the forward kine...
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| Format: | Article |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.024 |
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| author | Sun Shuai Song Gongfei Huang Xiancun |
| author_facet | Sun Shuai Song Gongfei Huang Xiancun |
| author_sort | Sun Shuai |
| collection | DOAJ |
| description | By analyzing the structure of Tripod parallel robot,a single branch chain analysis model is established. The kinematics analysis of robot is carried out by means of geometric analysis,and the expression of inverse kinematics is obtained. On the basis of the inverse solution analysis,the forward kinematics analysis formula is solved,and by using the numerical method of Newton iteration,the forward kinematics position is calculated. Combined with specific examples,the feasibility of kinematics analysis is verified by using MATLAB software programming. In order to further study the performance of the robot,according to the inverse kinematics of the robot,the workspace of the robot is analyzed. According to the Jacobi matrix of the robot,three kinds of singular configurations of the mechanism are discussed. Finally,the workspace map is drawn by MATLAB software program with the size parameters of the mechanism. |
| format | Article |
| id | doaj-art-eaf5e7e481e54bbeb95021cfd430314f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-eaf5e7e481e54bbeb95021cfd430314f2025-01-10T14:40:27ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-014212512929938775Analysis of the Kinematics and Workspace of a Tripod Parallel RobotSun ShuaiSong GongfeiHuang XiancunBy analyzing the structure of Tripod parallel robot,a single branch chain analysis model is established. The kinematics analysis of robot is carried out by means of geometric analysis,and the expression of inverse kinematics is obtained. On the basis of the inverse solution analysis,the forward kinematics analysis formula is solved,and by using the numerical method of Newton iteration,the forward kinematics position is calculated. Combined with specific examples,the feasibility of kinematics analysis is verified by using MATLAB software programming. In order to further study the performance of the robot,according to the inverse kinematics of the robot,the workspace of the robot is analyzed. According to the Jacobi matrix of the robot,three kinds of singular configurations of the mechanism are discussed. Finally,the workspace map is drawn by MATLAB software program with the size parameters of the mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.024Tripod parallel robotKinematics analysisWorkspaceSingular configuration |
| spellingShingle | Sun Shuai Song Gongfei Huang Xiancun Analysis of the Kinematics and Workspace of a Tripod Parallel Robot Jixie chuandong Tripod parallel robot Kinematics analysis Workspace Singular configuration |
| title | Analysis of the Kinematics and Workspace of a Tripod Parallel Robot |
| title_full | Analysis of the Kinematics and Workspace of a Tripod Parallel Robot |
| title_fullStr | Analysis of the Kinematics and Workspace of a Tripod Parallel Robot |
| title_full_unstemmed | Analysis of the Kinematics and Workspace of a Tripod Parallel Robot |
| title_short | Analysis of the Kinematics and Workspace of a Tripod Parallel Robot |
| title_sort | analysis of the kinematics and workspace of a tripod parallel robot |
| topic | Tripod parallel robot Kinematics analysis Workspace Singular configuration |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.09.024 |
| work_keys_str_mv | AT sunshuai analysisofthekinematicsandworkspaceofatripodparallelrobot AT songgongfei analysisofthekinematicsandworkspaceofatripodparallelrobot AT huangxiancun analysisofthekinematicsandworkspaceofatripodparallelrobot |