Virtual Link-lengths Approximating Method for Forward Kinematics of Multiple Motion-coupled Linkage Mechanism
The forward kinematics of one kind of multiple motion-coupled linkages mechanisms were investigated, which were applied to the finger of one kind of under-actuated hand, when the finger was not touching any objects. By setting virtual link-lengths for multiple motion-coupled linkages, a numerical approximating method to solve the linkages forward kinematics was advanced. The objective was to improve the iterative speed slowed by the motion-couple of multiple linkages. In this method, these virtual link-lengths were used as several new variables in Newton Iteration to reduce the amount of derivation and computation for each differential iterative step and then the entire computing time. The operating speed had an obviously improvement in a numerical example.
Under-actuated Hand Kinematics Multiple motion-coupled linkages Virtual Link-lengths
Sun HengHui Luo MinZhou Lu Wei Dong Xiang
Institute of Intelligent Machines, Chinese Academy of Sciences
国际会议
哈尔滨
英文
2318-2323
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）