Kinematics of a Wrist Based on Spherical Gear & Ring-rack

摘要：

A novel 2-DOF wrist based on spherical gear and ring-rack is presented in this paper. Firstly, geometrical structure and mobility analysis are addressed. Then, the direct and inverse kinematics are analyzed with direction cosine matrix method. The velocity and acceleration analysis are developed, and the one order, two order kinematic influnce coefficient matrixes can be deduced. Finally, the displacement, velocity, acceleration distribution figures are obtained on the basis on of the conclusions above.

关键词： wrist spherical gear ring-rack kinematics kinematic influnce coefficient matrix

作者: Qiang Li Cunyun Pan Xiang Zhang

作者单位: Departement of Mechanical Engineering of National University of Defense Technology,Changsha,410073,C Department of Mechanical Engineering of National University of Defense Technology,Changsha,410073,Ch

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2052-2056

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）