Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot

In this article, a novel five-degrees-of-freedom hybrid robot is proposed and its kinematics and dynamics are analyzed systematically. First, the mechanism is designed. It is composed of a traditional three-degrees-of-freedom delta robot and a two-degrees-of-freedom serial mechanism. Second, the for...

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Main Authors: You Wu, Zhen Yang, Zhuang Fu, Jian Fei, Hui Zheng
Format: Article
Language:English
Published: SAGE Publishing 2017-06-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.1177/1729881417716634
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spelling doaj-297224aa52fd4126a64a907f22e7a3b32020-11-25T03:19:21ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142017-06-011410.1177/1729881417716634Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robotYou Wu0Zhen Yang1Zhuang Fu2Jian Fei3Hui Zheng4State Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, ChinaState Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, ChinaState Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, ChinaRuijin Hospital Affiliated to Shanghai Jiao Tong University, Shanghai, ChinaState Key Lab of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, ChinaIn this article, a novel five-degrees-of-freedom hybrid robot is proposed and its kinematics and dynamics are analyzed systematically. First, the mechanism is designed. It is composed of a traditional three-degrees-of-freedom delta robot and a two-degrees-of-freedom serial mechanism. Second, the forward kinematics is established by geometric method, and the inverse kinematics is established by Denavit-Hartenberg (D-H) matrix method. Third, based on the principle of virtual work, Lagrange equations of dynamics are deduced. Finally, the feasibility and advantage of the proposed robot are verified by simulation and experiment.https://doi.org/10.1177/1729881417716634
collection DOAJ
language English
format Article
sources DOAJ
author You Wu
Zhen Yang
Zhuang Fu
Jian Fei
Hui Zheng
spellingShingle You Wu
Zhen Yang
Zhuang Fu
Jian Fei
Hui Zheng
Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
International Journal of Advanced Robotic Systems
author_facet You Wu
Zhen Yang
Zhuang Fu
Jian Fei
Hui Zheng
author_sort You Wu
title Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
title_short Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
title_full Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
title_fullStr Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
title_full_unstemmed Kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
title_sort kinematics and dynamics analysis of a novel five-degrees-of-freedom hybrid robot
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2017-06-01
description In this article, a novel five-degrees-of-freedom hybrid robot is proposed and its kinematics and dynamics are analyzed systematically. First, the mechanism is designed. It is composed of a traditional three-degrees-of-freedom delta robot and a two-degrees-of-freedom serial mechanism. Second, the forward kinematics is established by geometric method, and the inverse kinematics is established by Denavit-Hartenberg (D-H) matrix method. Third, based on the principle of virtual work, Lagrange equations of dynamics are deduced. Finally, the feasibility and advantage of the proposed robot are verified by simulation and experiment.
url https://doi.org/10.1177/1729881417716634
work_keys_str_mv AT youwu kinematicsanddynamicsanalysisofanovelfivedegreesoffreedomhybridrobot
AT zhenyang kinematicsanddynamicsanalysisofanovelfivedegreesoffreedomhybridrobot
AT zhuangfu kinematicsanddynamicsanalysisofanovelfivedegreesoffreedomhybridrobot
AT jianfei kinematicsanddynamicsanalysisofanovelfivedegreesoffreedomhybridrobot
AT huizheng kinematicsanddynamicsanalysisofanovelfivedegreesoffreedomhybridrobot
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