期刊
MULTIBODY SYSTEM DYNAMICS
卷 20, 期 4, 页码 307-325出版社
SPRINGER
DOI: 10.1007/s11044-008-9121-7
关键词
hyper-redundant manipulator; modularity; driving force; screw theory; forward dynamics
类别
资金
- Direccion General de Educacion Superior Tecnologica
- DGEST
- National Council of Science and Technology, Conacyt
In this contribution, a systematic methodology for solving the kinematic and dynamic analyses of a modular spatial hyper-redundant manipulator built with an optional number of serially connected three-legged in-parallel manipulators are presented. First, the kinematics and dynamics of the base module are carried out using the theory of screws and the principle of virtual work. Next, the expressions obtained for the base module are extended without significant effort to the spatial hyper-redundant manipulator under study. Finally, the proposed methodology of analysis is applied to a 18 degrees of freedom hyper-redundant manipulator.
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