Kinematic Analysis of A Novel Type of 6-DOF Hybrid Serial-parallel Manipulator

机译：一种新型6-DOF混合串行式操纵器的运动学分析

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A novel type of 6-DOF serial-parallel manipulator is proposed. With the application of the matrix theory, the inverse kinematics of the manipulator analyzed and the Jacobian matrix is obtained. Besides, the simulation model is developed in MATLAB/Simulink based on inverse kinematics. In the ending, the correctness of the simulation model is verified by the co-simulation in ADAMS and MATLAB.

机译：提出了一种新型的6-DOF串行平行操纵器。随着矩阵理论的应用，分析了操纵器的逆运动学，并获得了Jacobian基质。此外，基于逆运动学的Matlab / Simulink开发了模拟模型。在结束时，亚当斯和MATLAB的共模验证了仿真模型的正确性。

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《IEEE International Conference on Information and Automation》|2017年|592-1195p|共11页
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Jiabao Xu; Zhiyong Qu; Dacheng Cong; Junwei Han;
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中图分类 TP2-53;
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Indes Terms-6-DOF hybrid serial-parallel mechanism; Inverse kinematics; Co-simulation;

机译：Indes术语-6-DOF混合串行平行机制;逆运动学;共模;

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专利

1. KINEMATICS ANALYSIS AND NUMERICAL SIMULATION OF HYBRID SERIAL-PARALLEL MANIPULATOR BASED ON NEURAL NETWORK [J] . Rahmani A., Ghanbari A., Mahboubkhah M. Neural Network World . 2015,第4期

机译：基于神经网络的混合串并联机械手运动学分析与数值模拟
2. Kinematic analysis of a hybrid serial-parallel manipulator [J] . X. Z. Zheng, H. Z. Bin, Y. G. Luo The International Journal of Advanced Manufacturing Technology . 2004,第11a12期

机译：混合串并联机械手的运动学分析
3. Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator [J] . Peter Paul Pott, Achim Wagner, Essameddin Badreddin, Journal of Intelligent and Robotic Systems . 2011,第1期

机译：新型六自由度混合动力机械臂的逆动力学模型及控制应用
4. Kinematic Analysis of A Novel Type of 6-DOF Hybrid Serial-parallel Manipulator [C] . Jiabao Xu, Zhiyong Qu, Dacheng Cong, IEEE International Conference on Information and Automation . 2017

机译：一种新型6-DOF混合串行式操纵器的运动学分析
5. Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator [D] . Robinson, James D. 2008

机译：新型串并联混合机械手的正反运动学
6. Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure [O] . Zonggao Mu, Liang Han, Wenfu Xu, -1

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7. Kinematics Performance and Structural Analysis for the Design of a Serial-Parallel Manipulator Transferring a Billet for a Hot Extrusion Forging Process [O] . Chu Anh My, Manukid Parnichkun 2015

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8. Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator [R] . Nguyen, Charles C., Zhou, Zhen-Lei 1990

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Kinematic Analysis of A Novel Type of 6-DOF Hybrid Serial-parallel Manipulator

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