The Forward Solution of Kinematics About 5-DOF Dispensing Manipulator

Abstract:

The dispensing manipulator is one of the focus-researching projects at present,according to 5-DOF dispensing robot,firstly we completed designing the structure diagram of manipulator,and then used the mathematica calculation to finish the forward solution of kinematics about 5-DOF dispensing maniputor,which is derived the overall transformation matrix of the maniputor.finally we verified the correctness of the overall transformation matrix through the actual example.It is proved that the method have provided a reference for the kinematics equations of general maniputor.

• Periodical: Advanced Materials Research (Volumes 503-504)
• Pages: 949-952
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.503-504.949
• Online since: April 2012
• Authors: Gong Chang Ren, Yong Fei Wang, Qing Ye, Bo Chen
• Keywords: Dispensing Manipulator, DOF, Forward Solution of Kinematics

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