Kinematics Analysis and Simulation of the Power-on-Live Manipulator

Xu Dong; Zhong Cai Zheng; Yan Gao; Zhen Ting Jiang; Hai Yong Xiao

doi:10.4028/www.scientific.net/AMM.709.316

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 709Kinematics Analysis and Simulation of the...

Kinematics Analysis and Simulation of the Power-on-Live Manipulator

Abstract:

The Power-On-Live Manipulator with hydraulic system can complete many different repair works in the Substation. This paper focuses on the study of the kinematics of six DOF manipulator, and establishes the forward kinematics equation based on the analysis of the whole power-on-live manipulator. The methods of analytical and geometric are used to complete the power-on-live manipulator’s inverse kinematics calculations, and then the effectiveness of the power-on-live manipulator’s forward and inverse kinematics are verified by the numerical simulation software and the dynamic simulation software.

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Periodical:

Applied Mechanics and Materials (Volume 709)

Pages:

316-322

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.709.316

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Online since:

December 2014

Authors:

Xu Dong*, Zhong Cai Zheng, Yan Gao, Zhen Ting Jiang, Hai Yong Xiao

Keywords:

Forward Kinematics, Inverse Kinematics, Kinematics Simulation, Power-on-Live Manipulator

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* - Corresponding Author

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