欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
提出了一种模块化混联超冗余度机器人的位置正解的分析方法。利用Sylvester结式消元法对其基本模块3－RPS并联机构的位置正解进行符号求解，从而得到其符号解；然后利用齐次坐标变换矩阵得到n（3-RPS）输出平台和固定平台的位置关系。通过一个4（3-RPS）型超冗余度机器人进行了位置和姿态的实例分析，证明了该方法的有效性。
英文摘要：
A method for the forward position solution of the modular hybrid hyper - redundant robot is presented. The symbolic solution for the forward position of basic module 3 - RPS parallel manipulator is obtained by using the Sylvester resultant elimination method. The output platform and fixed platform position relationship of the n （3 - RPS） manipulator is gotten by the homogeneous coordinate transformation matrix. The method, using a numerical examples for the analysis of the position and orientation of the 4（3 - RPS） hyper- redundant, is given to demonstrate the validity of the method symbolic solution.
同期刊论文项目
同项目期刊论文
Analytical and high accurate formula for electrostatic force of comb-actuators with ground substrate
Calculating capacitance and analyzing nonlinearity of micro-accelerometers by Schwarz-Christoffel ma
Analytical study and compensation for temperature drifts of a bulk silicon MEMS capacitive accelerom
Modeling the pull-in behavior of electrostatically actuated micro beams by an approximate finite ele
A new method for the determination of the zero velocity region of the Karnopp model based on the sta
期刊信息
位置：