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Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanismThis paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.
Document ID
19890052490
Document Type
Conference Proceedings
Authors
Nguyen, Charles C. (Catholic Univ. of America Washington, DC, United States)
Pooran, Farhad J. (Catholic University of America, Washington, DC, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
MECHANICAL ENGINEERING
Funding Number(s)
CONTRACT_GRANT: NAG5-780
Distribution Limits
Public
Copyright
Other