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《Journal of Beijing University of Aeronautics and Astronautics》 2001-05
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Analysis of Kinematics of Three-Branch Space Robot

REN Jing yi (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation) SUN Han xu (Beijing University of Posts and Telecommunications, Dept. of Mechanical and Electronics Engineering)  
The kinematics of a three branch space robot mechanism was analyzed by presenting its model and discussing its three working modes. The space robot is a kind of serial parallel mechanism when it is working in carrying and cooperating modes. Since six out of its twelve joints are independent in this case, it is difficult to analyze and control this robot. By using influence coefficient method, the motion constraint equations of the mechanism were derived. The mapping of input and output was established. The inverse kinematics about velocity and acceleration were also solved.
【CateGory Index】: TP242
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【References】
Chinese Journal Full-text Database 3 Hits
1 SUN Han-xu~1,JIA Qing-xuan~2,ZHANG Qiu-hao~1,WU Fan~1,TAN Yue-sheng~2,YE Ping~2(1.School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China;2.Institute of Robotics Research,Beihang University,Beijing 100083,China);Trajectory Planning in Joint Space Based on Tri-Branch Robot[J];Journal of Beijing University of Posts and Telecommunications;2006-03
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【Co-references】
Chinese Journal Full-text Database 10 Hits
1 ZHAO Wei YU Jing jun BI Shu sheng ZONG Guang hua (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation);Experimental System of Serial-Parallel Micromanipulator[J];Journal of Beijing University of Aeronautics and Astronautics;2001-06
2 REN Jing yi (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation) SUN Han xu (Beijing University of Posts and Telecommunications, School of Automation);Kinematics Analysis and Simulation of Free-Floating Space Robot[J];Journal of Beijing University of Aeronautics and Astronautics;2002-06
3 SUN Han xu 1, JI Luo shuan 2, XU Yang sheng 3 (1. Automation School, Beijing University of Posts and Telecommuinications, Beijing 100876, China; 2. Lang Fang Missilery Insititue of Liberation Army Land Forces of China, Lang Fang 102800, China;;Study of Balance Problem for a Three-Arm Space Robot during Its Manipulation[J];Journal of Beijing University of Posts and Telecommunications;2002-01
4 ZOU Hao, WANG Qi yi, YU Xiao liu, ZHAO Ming yang (1.?School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110006,China;?2.?Shenyang Institute of Automation,CAS, Shenyang 110015,China);Pose Error Analyses of the Stewart Platform[J];JOURNAL OF NORTHEASTERN UNIVERSITY;2000-03
5 GUO Li xin 1,2 , ZHAO Ming yang 2, ZHANG Guo zhong 1 (1. School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110006,China; 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110015,China);The Joint Trajectory Planning with Minimal Joint Torque for Spatial Redundant Robots[J];JOURNAL OF NORTHEASTERN UNIVERSITY;2000-05
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8 SUN Li-ning, YU Hui, ZHU Yu-hong, ZHANG Xiu-feng, CA1 He-gao Robot Research Institute, Harbin Institute of Technology, Harbin 150001 , China;Influence coefficient of mechanism and jacobia matrix of parallel robot[J];Journal of Harbin Institute of Technology;2002-06
9 LI Yu wen, WANG Hong wei, LUO Guo fu, SHANG Zhan lei, ZOU Jing chao (Zhengzhou Institute of Light Industry, Zhengzhou 450002, China);Dynamic analysis of the manipulator with local closed chain[J];HENAN SCIENCE;2000-02
10 HUANG Jun-jie, ZHAO Jun-wei(Dept. of Mech . Eng . of HPU, Jiaozuo 454010, China);Sensitivity analysis of spindle platform structure parameters of a series-parallel robot[J];Journal of Jiaozuo Institute of Technology;2004-06
【Secondary References】
Chinese Journal Full-text Database 5 Hits
1 FAN Ji-zhuang,ZHU Yan-he,ZHAO Jie,CAI He-gao(Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin 150001,China);Kinematics Analysis and Gait Planning of a Three-Limb Robot[J];Journal of Beijing University of Posts and Telecommunications;2008-01
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3 LUO Jian-guo1,HE Mao-yan1,LU Zhen2,HUANG Zhen3(1.North China Institute of Science and Technology,Beijing 101601,China;2.School of Electrical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing 100083,China;3.Research Center of Robot,Yanshan University,Qinhuangdao 066004,China);A research on the new typed 2PPPPS-R-2PPPPS series parallel connected mechanism[J];Journal of Machine Design;2007-12
4 JIAO En-zhang, CHEN Mei-hong (Mechanical and Electronic Engineering College, Nanjing Forestry University, Nanjing 210037 ,China);Research on Robot Trajectory Planning by Means of Simulation[J];Coal Mine Machinery;2009-08
5 ;Trajectory Planning of Large Part Merging With a Multi-Robot Coordinated Manipulation System[J];Aeronautical Manufacturing Technology;2009-24
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