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Inverse Kinematics Analysis of the 6R Serial Spraying Manipulator with Non-Spherical Wrist

WANG Zhan-zhong1,2,ZHANG Da-wei1,AN Yan-song1,HAN Hong-zhi1 (1.School of Mechanical Engineering,Tianjin University,Tianjin 300072,China;2.School of Mechanical Engineering,Shijiazhuang Railway Institute,Shijiazhuang 050043,China)  
A non-orthogonal and non-spherical 3R wrist was introduced into spraying manipulator.According to the characteristics of space distribution of six rotating joints′ spatial layout,based on the method of the combination of matrix equation and orientation cosine, the inverse kinematics analysis of the 6R serial spraying manipulator with non-orthogonal and non-spherical wrist was processed.A system of four nonlinear equations with four unknown parameters was obtained and then was calculated with the maple software.At the end,an inverse kinematics example of 6R serial spraying manipulator with non-orthogonal and non-spherical 3R wrist was offered.The method of the combination of matrix equation and orientation cosine can be extended to solve other mechanism problems.
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