DESIGN AND CONTROL OF A 3-DEGREES-OF-FREEDOM, IN-PARALLEL, ACTUATED MANIPULATOR
DESIGN AND CONTROL OF A 3-DEGREES-OF-FREEDOM, IN-PARALLEL, ACTUATED MANIPULATOR
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DOI：
10.1002/rob.4620110204
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发表时间：
1994-01-01
期刊：
影响因子：
--
通讯作者：
KUMAR, V
中科院分区：
文献类型：
--
作者：
PFREUNDSCHUH, GH;SUGAR, TG;KUMAR, V
介绍了一种三自由度并联双驱动机械手的力学、设计和控制。该机械手由两个平台组成，通过三个串联链连接。运动学设计使得两个板之间的三个相对自由度允许操纵器在与未知环境接触和相互作用的同时适应不确定性并承受冲击。特别地，操纵器在沿接近方向的沿着平移以及围绕垂直于接近方向的轴的旋转中是自然顺应的，而其在其他方向上是刚性的。在这篇文章中，机械手运动学的概述，机械手系统和相关硬件的描述，和实验结果的原型的动态行为。(C)John Wiley & Sons，Inc.
The mechanics, design, and control of a 3-degrees-of-freedom, in-parallel, pneumatically actuated manipulator are presented. The manipulator consists of two platforms connected by three serial chains. The kinematic design is such that the three relative degrees of freedom between the two plates allow the manipulator to accomodate uncertainties and sustain impacts while contacting and interacting with unknown environments. In particular, the manipulator is naturally compliant in translation along the approach direction as well as in rotations about axes perpendicular to the approach direction, while it is stiff in other directions. In this article, an overview of the manipulator kinematics, a description of the manipulator system and the associated hardware, and experimental results on the dynamic behavior of a prototype are presented. (C) 1994 John Wiley & Sons, Inc.