Kinematics Research on PRP Industrial Manipulator with Cylindrical Coordinate

Ke Tao; Tian Shi Liu

doi:10.4028/www.scientific.net/AMM.220-223.1748

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 220-223Kinematics Research on PRP Industrial Manipulator...

Kinematics Research on PRP Industrial Manipulator with Cylindrical Coordinate

Abstract:

Abstract: This paper mainly studies the problem of the movement of PRP cylindrical coordinate industrial manipulator. Based on the description of the manipulator position and gesture, the determination of coordinate of the rectilinear joint and rotary joint and the homogeneous coordinate transformation, the kinematical equation and its inverse solution can be deduced subsequently. It provides the theoretical basis for the following study.

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Periodical:

Applied Mechanics and Materials (Volumes 220-223)

Pages:

1748-1751

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.220-223.1748

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Online since:

November 2012

Authors:

Ke Tao, Tian Shi Liu

Keywords:

Industrial Manipulator, Kinematics Analysis, Prismatic Joint, Rotary Joint

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