Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM

Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ign...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Hu, Bo [verfasserIn] Shi, Yanguo [verfasserIn] Xu, Luzhou [verfasserIn] Bai, Peng [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2020

Schlagwörter:	Hybrid manipulators Exechon Inverse kinematics Jacobian

Übergeordnetes Werk:	Enthalten in: Mechanism and machine theory - Amsterdam [u.a.] : Elsevier Science, 1972, 149
Übergeordnetes Werk:	volume:149

DOI / URN:	10.1016/j.mechmachtheory.2020.103837

Katalog-ID:	ELV003846083

Internformat


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245	1	0	\|a Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM
264		1	\|c 2020
336			\|a nicht spezifiziert \|b zzz \|2 rdacontent
337			\|a Computermedien \|b c \|2 rdamedia
338			\|a Online-Ressource \|b cr \|2 rdacarrier
520			\|a Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators.
650		4	\|a Hybrid manipulators
650		4	\|a Exechon
650		4	\|a Inverse kinematics
650		4	\|a Jacobian
700	1		\|a Shi, Yanguo \|e verfasserin \|4 aut
700	1		\|a Xu, Luzhou \|e verfasserin \|4 aut
700	1		\|a Bai, Peng \|e verfasserin \|4 aut
773	0	8	\|i Enthalten in \|t Mechanism and machine theory \|d Amsterdam [u.a.] : Elsevier Science, 1972 \|g 149 \|h Online-Ressource \|w (DE-627)319950271 \|w (DE-600)2015519-0 \|w (DE-576)259484873 \|7 nnns
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912			\|a GBV_ILN_95
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912			\|a GBV_ILN_110
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912			\|a GBV_ILN_151
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912			\|a GBV_ILN_370
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936	b	k	\|a 52.20 \|j Antriebstechnik \|j Getriebelehre
936	b	k	\|a 50.32 \|j Dynamik \|j Schwingungslehre \|x Technische Mechanik
936	b	k	\|a 50.25 \|j Robotertechnik
951			\|a AR
952			\|d 149

Indexfelder

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publishDate	2020
allfields	10.1016/j.mechmachtheory.2020.103837 doi (DE-627)ELV003846083 (ELSEVIER)S0094-114X(20)30058-6 DE-627 ger DE-627 rda eng 620 DE-600 52.20 bkl 50.32 bkl 50.25 bkl Hu, Bo verfasserin aut Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM 2020 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators. Hybrid manipulators Exechon Inverse kinematics Jacobian Shi, Yanguo verfasserin aut Xu, Luzhou verfasserin aut Bai, Peng verfasserin aut Enthalten in Mechanism and machine theory Amsterdam [u.a.] : Elsevier Science, 1972 149 Online-Ressource (DE-627)319950271 (DE-600)2015519-0 (DE-576)259484873 nnns volume:149 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 52.20 Antriebstechnik Getriebelehre 50.32 Dynamik Schwingungslehre Technische Mechanik 50.25 Robotertechnik AR 149
spelling	10.1016/j.mechmachtheory.2020.103837 doi (DE-627)ELV003846083 (ELSEVIER)S0094-114X(20)30058-6 DE-627 ger DE-627 rda eng 620 DE-600 52.20 bkl 50.32 bkl 50.25 bkl Hu, Bo verfasserin aut Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM 2020 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators. Hybrid manipulators Exechon Inverse kinematics Jacobian Shi, Yanguo verfasserin aut Xu, Luzhou verfasserin aut Bai, Peng verfasserin aut Enthalten in Mechanism and machine theory Amsterdam [u.a.] : Elsevier Science, 1972 149 Online-Ressource (DE-627)319950271 (DE-600)2015519-0 (DE-576)259484873 nnns volume:149 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 52.20 Antriebstechnik Getriebelehre 50.32 Dynamik Schwingungslehre Technische Mechanik 50.25 Robotertechnik AR 149
allfields_unstemmed	10.1016/j.mechmachtheory.2020.103837 doi (DE-627)ELV003846083 (ELSEVIER)S0094-114X(20)30058-6 DE-627 ger DE-627 rda eng 620 DE-600 52.20 bkl 50.32 bkl 50.25 bkl Hu, Bo verfasserin aut Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM 2020 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators. Hybrid manipulators Exechon Inverse kinematics Jacobian Shi, Yanguo verfasserin aut Xu, Luzhou verfasserin aut Bai, Peng verfasserin aut Enthalten in Mechanism and machine theory Amsterdam [u.a.] : Elsevier Science, 1972 149 Online-Ressource (DE-627)319950271 (DE-600)2015519-0 (DE-576)259484873 nnns volume:149 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 52.20 Antriebstechnik Getriebelehre 50.32 Dynamik Schwingungslehre Technische Mechanik 50.25 Robotertechnik AR 149
allfieldsGer	10.1016/j.mechmachtheory.2020.103837 doi (DE-627)ELV003846083 (ELSEVIER)S0094-114X(20)30058-6 DE-627 ger DE-627 rda eng 620 DE-600 52.20 bkl 50.32 bkl 50.25 bkl Hu, Bo verfasserin aut Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM 2020 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators. Hybrid manipulators Exechon Inverse kinematics Jacobian Shi, Yanguo verfasserin aut Xu, Luzhou verfasserin aut Bai, Peng verfasserin aut Enthalten in Mechanism and machine theory Amsterdam [u.a.] : Elsevier Science, 1972 149 Online-Ressource (DE-627)319950271 (DE-600)2015519-0 (DE-576)259484873 nnns volume:149 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 52.20 Antriebstechnik Getriebelehre 50.32 Dynamik Schwingungslehre Technische Mechanik 50.25 Robotertechnik AR 149
allfieldsSound	10.1016/j.mechmachtheory.2020.103837 doi (DE-627)ELV003846083 (ELSEVIER)S0094-114X(20)30058-6 DE-627 ger DE-627 rda eng 620 DE-600 52.20 bkl 50.32 bkl 50.25 bkl Hu, Bo verfasserin aut Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM 2020 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators. Hybrid manipulators Exechon Inverse kinematics Jacobian Shi, Yanguo verfasserin aut Xu, Luzhou verfasserin aut Bai, Peng verfasserin aut Enthalten in Mechanism and machine theory Amsterdam [u.a.] : Elsevier Science, 1972 149 Online-Ressource (DE-627)319950271 (DE-600)2015519-0 (DE-576)259484873 nnns volume:149 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 52.20 Antriebstechnik Getriebelehre 50.32 Dynamik Schwingungslehre Technische Mechanik 50.25 Robotertechnik AR 149
language	English
source	Enthalten in Mechanism and machine theory 149 volume:149
sourceStr	Enthalten in Mechanism and machine theory 149 volume:149
format_phy_str_mv	Article
bklname	Antriebstechnik Getriebelehre Dynamik Schwingungslehre Robotertechnik
institution	findex.gbv.de
topic_facet	Hybrid manipulators Exechon Inverse kinematics Jacobian
dewey-raw	620
isfreeaccess_bool	false
container_title	Mechanism and machine theory
authorswithroles_txt_mv	Hu, Bo @@aut@@ Shi, Yanguo @@aut@@ Xu, Luzhou @@aut@@ Bai, Peng @@aut@@
publishDateDaySort_date	2020-01-01T00:00:00Z
hierarchy_top_id	319950271
dewey-sort	3620
id	ELV003846083
language_de	englisch
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author	Hu, Bo
spellingShingle	Hu, Bo ddc 620 bkl 52.20 bkl 50.32 bkl 50.25 misc Hybrid manipulators misc Exechon misc Inverse kinematics misc Jacobian Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM
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topic_title	620 DE-600 52.20 bkl 50.32 bkl 50.25 bkl Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM Hybrid manipulators Exechon Inverse kinematics Jacobian
topic	ddc 620 bkl 52.20 bkl 50.32 bkl 50.25 misc Hybrid manipulators misc Exechon misc Inverse kinematics misc Jacobian
topic_unstemmed	ddc 620 bkl 52.20 bkl 50.32 bkl 50.25 misc Hybrid manipulators misc Exechon misc Inverse kinematics misc Jacobian
topic_browse	ddc 620 bkl 52.20 bkl 50.32 bkl 50.25 misc Hybrid manipulators misc Exechon misc Inverse kinematics misc Jacobian
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title	Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM
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title_full	Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM
author_sort	Hu, Bo
journal	Mechanism and machine theory
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author_browse	Hu, Bo Shi, Yanguo Xu, Luzhou Bai, Peng
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author-letter	Hu, Bo
doi_str_mv	10.1016/j.mechmachtheory.2020.103837
dewey-full	620
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title_sort	reconsideration of terminal constraint/mobility and kinematics of 5-dof hybrid manipulators formed by one 2r1t pm and one rr sm
title_auth	Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM
abstract	Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators.
abstractGer	Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators.
abstract_unstemmed	Hybrid manipulators formed by one 2R1T parallel manipulator (PM) and one RR serial manipulator (SM) have been widely studied. However, the previous researches only focused on the PM part. The basic terminal constraint/mobility and kinematics issues of the integrated hybrid manipulators have been ignored and thus should be reconsidered. The paper studies the basic motion and constraint issues of the integrated hybrid manipulators by using the Exechon hybrid manipulator as a case. First, using Grassmann–Cayley algebra(GCA), a method for deriving the terminal constraint of the 5-DOF hybrid manipulator is proposed and the terminal DOF property is solved. Second, the terminal position and orientation coupling relation in the hybrid manipulator is revealed based on the elimination method and the inverse displacement is solved. Third, the 6 × 6 form full Jacobian containing all actuation and constraint information of the manipulator is derived. The established models in this paper are applicable for the 5-DOF hybrid manipulators.
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title_short	Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM
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author2	Shi, Yanguo Xu, Luzhou Bai, Peng
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doi_str	10.1016/j.mechmachtheory.2020.103837
up_date	2024-07-06T20:59:21.408Z
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Reconsideration of terminal constraint/mobility and kinematics of 5-DOF hybrid manipulators formed by one 2R1T PM and one RR SM

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