Papers by Keyword: Kinematics Equation

Abstract: To investigate the realistic spiral motion of a spinning guided projectile, a novel analysis method based on flight data is proposed and further applied. A mathematical model of spiral motion is derived in body coordinate system firstly, and the procedures of the novel method are then described in detail. The spiral motion can be induced by non-zero velocity and rotation rate along the longitudinal axis with at least one non-zero velocity and rotation rate along transverse axes. In the case of non-zero velocities and rotation rates exerted along triple axes, it is observed that the spiral motion consists of single circular motion and double circular motion, and the spiral motion depends on both spinning rate and attitude angles of flight trajectory.

Abstract: This paper proposed a type of new parallel tilter with four degrees-of-freedom, whose moving platform has three rotations and one translation. The coordinate transformation is adopted to establish the position and velocity kinematics equation of the tilter. Simulation result indicated that the moving platform can move according to the set law by modifying the displacement of the piston rod in active limb.

Abstract: Restaurant service robot integrates multiple sensor information fusion, autonomous mobile robot and human-computer interaction technology, which has a high theoretical value and at the same time, restaurant service robot is able to replace or partially replace the restaurant staff for customer service, which has broad market prospects. This paper describes the design of a restaurant serving service robot manipulator's structure, the bottom using wheeled autonomous mobile platform, the upper arms of a humanoid robot, and gives the kinematics equation

Abstract: This paper takes a kind of 3-UPS Parallel Machine Tool (PMT) as the objective of research. First, the kinematic analysis is carried out to the machine and the kinematics equation is obtained. Then, the mathematical model on tool posture error of this machine is established in considering the joint gap based on the kinematics equation. According to the mathematical model expression, the posture error of tool tip point can be calculated when the specific values to the length error of the driving rod and the position error of the joint point are known. The establishment of error model has important theoretical significance to the design as well as the error analysis and compensation of this Parallel Machine Tool.

Abstract: In recent years, in view of the absence of kinematics analysis function of mechanisms in the virtual assembly system, the method of kinematics analysis of mechanisms based on dynamics of multibody systems in virtual assembly environment is presented. A mechanism is considered as a multibody system and the kinematics equations are established based on Descartes coordinate system. All the kinematics parameters, just like position, speed and acceleration, can be obtained through solving the kinematics equations. In addition, the realization method of mechanism motion simulation in virtual assembly system is also proposed which contains the hiberarchy, data structure, module classes and simulation process of the system. The method is implemented and validated based on the prototype system VAPP(Virtual Assembly Process Planning).