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首页> 美国政府科技报告 >Development of Kinematic Equations and Determination of Workspace of a 6 DOF (Degree-of-Freedom) End-Effector with Closed-Kinematic Chain Mechanism
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Development of Kinematic Equations and Determination of Workspace of a 6 DOF (Degree-of-Freedom) End-Effector with Closed-Kinematic Chain Mechanism

机译：具有闭合运动链机构的6自由度（自由度）末端执行器的运动方程的发展和工作空间的确定

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This report presents results from the research grant entitled Active Control of Robot Manipulators, funded by the Goddard Space Flight Center, under Grant NAG5-780, for the period July 1, 1988 to January 1, 1989. An analysis is presented of a 6 degree-of-freedom robot end-effector built to study telerobotic assembly of NASA hardware in space. Since the end-effector is required to perform high precision motion in a limited workspace, closed-kinematic mechanisms are chosen for its design. A closed-form solution is obtained for the inverse kinematic problem and an iterative procedure employing Newton-Raphson method is proposed to solve the forward kinematic problem. A study of the end-effector workspace results in a general procedure for the workspace determination based on link constraints. Computer simulation results are presented.

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