Design of Three Joints Underactuated Manipulator with Nonholonomic Constraint

Yue Gang Tan; Liang Li

doi:10.4028/www.scientific.net/AMM.121-126.810

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 121-126Design of Three Joints Underactuated Manipulator...

Design of Three Joints Underactuated Manipulator with Nonholonomic Constraint

Abstract:

A novel three joints underactuated manipulator has been proposed in this paper. Firstly, the structure features of the manipulator are analyzed. Then, the kinematic model with triangular structure can be converted into the chained form through appropriate design for structural and kinematical parameters. Finally, the result of simulation for three joints underactuated manipulator indicates that the joints angles can be move the desired value by input velocity control of two motors. It is concluded that it is feasible to design controllable manipulator with nonholonomic theory.

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Periodical:

Applied Mechanics and Materials (Volumes 121-126)

Pages:

810-814

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.121-126.810

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Online since:

October 2011

Authors:

Yue Gang Tan, Liang Li

Keywords:

Kinematic Model, Nonholonomic Constraint, Underactuated Manipulator

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