Motion Control of Underactuated Wire-driven Mechanism-Kinetostatics Analysis of Planar Marionette

机译：平面牵线机制欠动线路机制的运动控制 - 平面马林岛的运动学分析

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This paper describes kinetostatics analyses of planar marionettes as underactuated wire–driven mechanisms.A configuration of a serial link chain which both ends are hung by wires are solved by minimizing potential energy of the link chain.The configurations of controller to give the specified configuration of the link chain are then obtained based on inverse statics calculation of the link chain.These methods are then applied to realize specified configuration of a human type marionette.

机译：本文介绍了平面Marionettes作为欠介质的线路驱动机构的运动学分析。通过最大限度地减少链路链的势能来解决两端的串联链路链的配置。控制器的配置提供指定配置的配置然后基于链路链的逆静音计算获得链路链。然后应用该方法以实现人类类型MariOnette的指定配置。

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《International conference on mechatronics technology》|2012年||共6页
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Nobuyuki Iwatsuki; Naoki Itabashi;
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原文格式 PDF
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中图分类 TH15;
关键词
Marionette; Wire-driven mechanism; underactuated mechanism; kinetostatics analysis;

机译：MARIONETTE;丝推动机构;欠施机制;kinetostatics分析;

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3. Dynamic Analysis and Motion Control of an Underactuated Unmanned Surface Vehicle (WL-II) [J] . Wu Ying, Yang Shengqiang, Li Wenhui, Marine Technology Society journal . 2017,第6期

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4. Motion Control of Underactuated Wire-driven Mechanism-Kinetostatics Analysis of Planar Marionette [C] . Nobuyuki Iwatsuki, Naoki Itabashi International conference on mechatronics technology . 2012

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Motion Control of Underactuated Wire-driven Mechanism-Kinetostatics Analysis of Planar Marionette

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