Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory
المؤلفون المشاركون
Ma, Lu-han
Zhong, Yong-Bo
Wang, Gong-Dong
Li, Nan
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-16، 16ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-09-09
دولة النشر
مصر
عدد الصفحات
16
التخصصات الرئيسية
الملخص EN
The robot kinematic model is the basis of motion control, calibration, error analysis, etc.
Considering these factors, the kinematic model needs to meet the requirements of completeness, model continuity, and minimality.
DH model as the most widely used method to build robot kinematic model still has problems in completeness, model continuity, and calculation, especially for robots with complex mechanisms such as closed chain mechanism and branch mechanism.
In this paper, an improved kinematic modeling method is proposed based on the cooperation of the DH model and the Hayati and Mirmirani model and considering the Lie group concept.
The improved model is complete and continuous, and when combining with Lie group to calculate, it avoids numbers of trigonometric functions and antitrigonometric functions in the process so as to optimize the algorithm.
With this method, the kinematic model of the closed chain cascade manipulator developed in our laboratory is established, and a working process of it is numerically calculated.
The results of the numerical calculation are basically consistent with those of virtual prototype simulation, which means the established kinematic model is correct and the numerical calculation method can solve the problem correctly.
The kinematic model and the results of the kinematic analysis provide a theoretical basis for the subsequent motion control, calibration, and error analysis of the robot.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Ma, Lu-han& Zhong, Yong-Bo& Wang, Gong-Dong& Li, Nan. 2020. Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1202164
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Ma, Lu-han…[et al.]. Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory. Mathematical Problems in Engineering No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1202164
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Ma, Lu-han& Zhong, Yong-Bo& Wang, Gong-Dong& Li, Nan. Kinematic Analysis of the Robot Having Closed Chain Mechanisms Based on an Improved Modeling Method and Lie Group Theory. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1202164
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1202164
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر