Omnidirectional Analysis of Spatial Manipulator
Joint Authors
Leng, Yuquan
Zhang, Yang
He, Xu
Zhang, Wei
Luo, Haitao
Zhou, Weijia
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-11
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Space manipulators are mainly used in the spatial loading task.
According to problems of the spatial loading diversity, the testing loading installing position, and the utilization ratio of a test platform, the space manipulator is asked to evaluate the position and attitude of itself.
This paper proposes the Point Omnidirectional Coefficient (POC) with unit attitude sphere/circle to describe attitude of the end-effector, which evaluates any points in the attainable space of the manipulators, in combination with the manipulation’s position message, and get relationships between its position and attitude of all points in the attainable space.
It represents the mapping between sphere surface and plane for mission attitude constraints and the method for calculating volume of points space including attainable space, Omnidirectional space, and mission attitude space.
Furthermore, the Manipulator Omnidirectional Coefficient based on mission or not is proposed for evaluating manipulator performance.
Through analysis and simulation about 3D and 2D manipulators, the results show that the above theoretical approach is feasible and the relationships about link lengths, joints angles, attainable space, and Manipulator Omnidirectional Coefficient are drawn for guiding design.
American Psychological Association (APA)
Leng, Yuquan& Zhang, Yang& He, Xu& Zhang, Wei& Luo, Haitao& Zhou, Weijia. 2015. Omnidirectional Analysis of Spatial Manipulator. Journal of Robotics،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1070015
Modern Language Association (MLA)
Leng, Yuquan…[et al.]. Omnidirectional Analysis of Spatial Manipulator. Journal of Robotics No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1070015
American Medical Association (AMA)
Leng, Yuquan& Zhang, Yang& He, Xu& Zhang, Wei& Luo, Haitao& Zhou, Weijia. Omnidirectional Analysis of Spatial Manipulator. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1070015
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070015