Kinematics analysis and simulation of a new 3 degrees of freedom spatial robot mechanism composed by closed chain

Wang, Zeyang; Zhao, Ziqiang; Pang, Zhifeng; Zhang, Chunlin

doi:10.1109/mace.2011.5987200

Cited by 6 publications

(2 citation statements)

References 1 publication

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“…The aim of kinematics analysis is to describe the kinematic relationship between joints and end-effector. The analysis solutions can demonstrate how to control robot motion, and establish the dynamic equation and the model for error analysis [11,12].…”

Section: Kinematics Characteristic Of New-type Robotmentioning

confidence: 99%

Kinematic analysis and simulation of a new-type robot with special structure

Guo

et al. 2014

Adv. Manuf.

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Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics (a tool box of MATLAB) with these equation solutions. It is necessary to design a graphical user interface (GUI) for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.

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Section: Kinematics Characteristic Of New-type Robotmentioning

confidence: 99%

Kinematic analysis and simulation of a new-type robot with special structure

Guo

et al. 2014

Adv. Manuf.

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“…There are several leading aspects in general: First, proposing a new mechanism with the degree of quickreturn. [2][3][4][5][6][7][8][9][10][11] Secondly, some scholars have conducted kinematic analyses for specific quick-return mechanisms. [12][13][14][15][16][17][18][19][20] Several scholars have also cited quick-return mechanism applications.…”

Section: Introductionmentioning

confidence: 99%

Revisiting the degree of quick-return of the linkage considering programmable input for contemporary mechanical systems

Chen,

Guo,

Weng

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Starting from the programmable motion performance of modern actuation technology, this study elucidates that the degree of quick-return in a mechanical system is no longer entirely dependent on mechanism design. A theoretical framework is proposed for analyzing and synthesizing the degree of quick-return in contemporary mechanical systems based on time efficiency. This study adopts a functional perspective, first extending the traditional definition describing the degree of quick-return mechanism to encompass broader mechanical systems. Subsequently, we present a general formula for calculating the time-ratio and travel velocity-ratio coefficients under contemporary technological conditions, supported by a detailed mathematical derivation. Finally, a corresponding procedure is established for analyzing and synthesizing the degree of quick-return in a mechanical system, fostering improved collaboration between managers and designers. Case studies demonstrate that designers can achieve the desired degree of quick-return in mechanical systems and robots by leveraging time efficiency. The theoretical framework introduced in this paper is versatile and can benefit various industries, notably the field of robotics. This broadens the applicability of the degree of quick-return concept, marking a significant advancement in enhancing the time efficiency of mechanical systems.

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Real-Time Intelligent NI myRIO-Based Library Management Robotic System Using LabVIEW

Gade¹,

Angal²

2017

Advances in Intelligent Systems and Computing

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Kinematics analysis and simulation of a new 3 degrees of freedom spatial robot mechanism composed by closed chain

Cited by 6 publications

References 1 publication

Kinematic analysis and simulation of a new-type robot with special structure

Kinematic analysis and simulation of a new-type robot with special structure

Revisiting the degree of quick-return of the linkage considering programmable input for contemporary mechanical systems

Real-Time Intelligent NI myRIO-Based Library Management Robotic System Using LabVIEW

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