New Method for Kinematic Analysis of a Hybrid Manipulator

摘要：

This paper presents a new method to analyze the kinematics of a widely-used commercial hybrid manipulator IRB260 from the ABB Company. This manipulator includes two parallel four-bar mechanisms that make the kinematics and dynamic analysis complicated. In this paper, the rigorous analytical method is totally based on the exponential coordinate description and the screw theory. This method has created the virtual open-chain manipulator that is equivalent to the hybrid manipulator. Then the kinematics can be solved using the routine steps for the virtual open-chain manipulators. The simulation results show that this new method results in the correct kinematics of this hybrid manipulator.

关键词： Hybrid Double four-bar Kinematics Jacobian Screw theory

作者: Jun Shi Xiaorui Zhu Zexiang Li

作者单位: Harbin Institute of Technology Shenzhen Graduate School,Shenzhen,Guangdong 518055,China Hong Kong University of Science and Technology,HongKong

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)

会议地点: 珠海、澳门

会议语种:英文

页码: 207-211

在线出版日期: 2009-06-22（万方平台首次上网日期，不代表论文的发表时间）