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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >Forward Acceleration of Kinematic Limbs for Redundant Serial-Parallel Manipulators
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Forward Acceleration of Kinematic Limbs for Redundant Serial-Parallel Manipulators

机译：冗余串行机械手的运动肢体前进加速度

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摘要

A forward acceleration of the kinematic limbs for the redundant serial-parallel manipulators is studied. The relationships between the input velocity/acceleration and the output general velocity/acceleration of the kinematic limbs are discovered. The forward kinematic Jacobian matrices and the forward kinematic Hessian matrices are derived. A unified forward acceleration of the kinematic limbs is established for solving the output general acceleration of the kinematic limbs by only giving the input general velocity/acceleration of every parallel manipulator. A novel 2(RPS + SPR + UPS + SPU) type serial-parallel manipulator is constructed, several formulas are derived for solving the full forward general acceleration of the kinematic limbs in the redundant serial-parallel manipulator based on the unified forward acceleration model. The theoretical solutions are proved to be correct by the simulation solution of the novel serial-parallel manipulator.
机译：研究了冗余串行式操纵器的运动肢体的正向加速。 发现输入速度/加速度与运动肢体的输出通用速度/加速度之间的关系。 衍生出前导运动雅可比矩阵和前进运动粗糙矩阵。 建立了运动肢体的统一前进加速，以通过仅提供每个平行机械手的输入通用速度/加速来解决运动肢的输出通用加速度。 构建了一种新颖的2（RPS + SPR + UPS + SPU）型串行平行机械手，导出了几种公式，用于基于统一的前进加速模型解决冗余串行机械手中的运动肢体的全向导总加速。 通过新型串行平行机械手的模拟解决方案证明了理论解。

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