Trajectory Planning Research of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

Yong Quan Li; Li Jie Zhang; Ying Liu

doi:10.4028/www.scientific.net/AMR.308-310.2068

Paper Titles

Upper Limb Kinematical Model and Motion Analysis Method Study
p.2047

Research on Sand Collecting Mechanism’s Flanks of a New Railway Sand Removal Vehicle Based on CAE Method
p.2052

A Matrix Representation and Motion Space Exchange Metamorphic Operation
p.2058

A Method on Obtaining Depth Information and Parallel Adjusting Mechanism Design Based on Lens Imaging Principle
p.2062

Trajectory Planning Research of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy
p.2068

Research on Kinematics Simulation and Analysis of 6 Revolute Joint Serial Industrial Robot
p.2074

Research and Development of an Adjustable Elliptical Exerciser
p.2078

The Integrated Design of an Interactive Service Robot for Shanghai World Expo 2010
p.2084

The Design and Comparison Study on the Large-Scale End-Effector of Large Space Manipulator
p.2095

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 308-310Trajectory Planning Research of Spherical 2-DOF...

Trajectory Planning Research of Spherical 2-DOF Parallel Manipulator with Actuation Redundancy

Abstract:

This paper present formation principle of any spherical trajectory curve, and kinematic track of spherical 2-DOF parallel manipulator with actuation redundancy was planned by trajectory planning method that acceleration is continuous segmental function in Cartesian space, in order to guarantee that angular displacement, angular velocity and angular acceleration curve is smooth and continuous, and forward kinematics was simulated by virtue of ADAMS software. At the same time, based on dynamic analysis, smooth and continuous driving torque curve of three actuated joints were obtained by force optimization method. This kind of trajectory planning method laid the foundation for redundant actuation control of the manipulator.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Advanced Materials Research (Volumes 308-310)

Pages:

2068-2073

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.308-310.2068

Citation:

Cite this paper

Online since:

August 2011

Authors:

Yong Quan Li, Li Jie Zhang, Ying Liu

Keywords:

2-DOF, Actuation Redundancy, Spherical Manipulator, Trajectory Planning

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] TAN Guan-zheng, XU Xiong: submitted to Journal of Central South University of Technology (2005) (in Chinese)

Google Scholar

[2] REN Jing-yi, SUN Han-xu: submitted to Robot (2002) (in Chinese)

Google Scholar

[3] TIAN Xi-yong. Beijing posts and telecommunications university master degree paper in engineering (2008) (in Chinese)

Google Scholar

[4] ZHANG Li-jie, HUANG Zhen: submitted to China Mechanical Engineering (2006) (in Chinese)

Google Scholar

[5] C. M Gosselin, Cloutier Caroline: submitted to American Society of Mechanical Engineers (1994)

Google Scholar

[6] M. Ouerfelli, V. Kumar: submitted to journal of Mechanical Design (1994)

Google Scholar

[7] Jorge Angeles, Principle theory method and algorithm of Robot mechanical system, Machinery industry press, 2004 (in Chinese)

Google Scholar

[8] ZHANG Li-Jie, LI Yong-Quan, SHI Wen-Ya: submitted to Machine Design & Research (2009) (in Chinese)

Google Scholar

[9] Niu Yue-Wei. Yan Shan University master degree paper in engineering (2007) (in Chinese)

Google Scholar

[10] SHAO Hua, GUAN Li-wen: submitted to Journal of Tsinghua University (2007) (in Chinese)

Google Scholar