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- Title
Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator.
- Authors
Guo, Wanjin; Li, Ruifeng; Cao, Chuqing; Gao, Yunfeng
- Abstract
Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype.
- Subjects
ROBOT kinematics; DEGREES of freedom; MANIPULATORS (Machinery); ROBOT dynamics; HYBRID systems
- Publication
Advances in Mechanical Engineering (Sage Publications Inc.), 2016, Vol 8, Issue 11, p1
- ISSN
1687-8132
- Publication type
Article
- DOI
10.1177/1687814016680309