Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism
	Ge Z(葛壮)2; Xie LC(谢磊超)3,4; Yang SK(杨尚奎)2; Zhu SY(朱树云)1; Cao YZ(曹永战)5; Liu YW(刘玉旺)3,4
	2019
会议日期	October 12-13, 2019
会议地点	Melbourne, Australia
页码	1-7
英文摘要	Traditional series robots have the disadvantages of complex structure and complicated control. Almost all of them have no adaptive ability. Although soft robots have good adaptive characteristics, they also have the limitations of poor bearing capacity and low stiffness. In addition, their motion trajectory and motion precision are difficult to achieve accurate control. In order to solve the above problems, based on a single motor-driving multi-stage metamorphic mechanism, this paper carries out kinematic analysis and error analysis to determine the motion trajectory and motion accuracy of the multi-stage metamorphic mechanism. And this paper uses ADAMS to carry out simulation calculation. Comparing the theoretical calculation results and simulation calculation results, and determining the errors between the multi-stage metamorphic mechanisms, so as to ensure the accurate position of the multi-stage metamorphic mechanism during work. The multi-stage metamorphic mechanism realizes stable and efficient work.
产权排序	2
会议录	2019 4th International Conference on Insulating Materials, Material Application and Electrical Engineering (IMMAEE 2019)
会议录出版者	IOP
会议录出版地	Bristol, UK
语种	英语
ISSN号	1757-8981
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26537]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Liu YW(刘玉旺)
作者单位	1.School of Automation and Electrical Engineering, Shenyang Ligong University Shenyang, Liaoning, China 2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang, Liaoning, China 5.Information and Control Engineering Faculty, Shenyang Jianzhu University Shenyang, Liaoning, China
推荐引用方式 GB/T 7714	Ge Z,Xie LC,Yang SK,et al. Kinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism[C]. 见:. Melbourne, Australia. October 12-13, 2019.