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《Journal of Zhejiang University(Engineering Science)》 2017-01
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Analytical inverse kinematics algorithm for double-octahedral variable geometry truss manipulators

QIAN Long-hao;HU Shi-qiang;YANG Yong-sheng;School of Aeronautics and Astronautics,Shanghai Jiao Tong University;  
An analytical inverse kinematics(IK)algorithm was proposed in order to obtain fast and accurate IK solution for multi-section double-octahedral variable geometry truss(VGT)manipulator.A rotation matrix was introduced without using Euler angle and Denavit-Hartenberg(D-H)parameters based on VGT manipulator symmetric structure property and mirror transformation matrix.The full IK problem was reduced into sub-problems involving finding the rotation matrices of auxiliary coordinate systems and determining position vector in the auxiliary coordinate system by establishing two auxiliary coordinate systems.A two-section VGT manipulator IK algorithm was given.A simplified kinematic configuration capable of converting multi-section VGT manipulator into a single-section manipulator was given by analyzing two-section VGT manipulator IK solution.The N-section VGT manipulator was equivalent to two-section VGT manipulator.The N-section VGT manipulator IK solution was obtained by using twosection VGT manipulator IK algorithm and the simplified kinematic configuration.Simulation results indicate that the proposed IK algorithm has improved computation speed and accuracy than solutions from Jacobian matrix method.The effectiveness of the algorithm was verified on a VGT manipulator test device.
【Fund】: 国家“863”高技术研究发展计划资助项目(2015AAXXX6605)
【CateGory Index】: TP241
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