The Forward Solution of Kinematics About 5-DOF Dispensing Manipulator

摘要：

　　bstract.The dispensing manipulator is one of the focus-researching projects at present,according to 5-DOF dispensing robot,firstly we completed designing the structure diagram of manipulator,and then used the mathematica calculation to finish the forward solution of kinematics about 5-DOF dispensing maniputor,which is derived the overall transformation matrix of the maniputor.finally we verified the correctness of the overall transformation matrix through the actual example.It is proved that the method have provided a reference for the kinematics equations of general maniputor.

关键词： dispensing manipulator DOF forward solution of kinematics

作者: Gongchang Ren Yongfei Wang Qing Ye Bo Chen

作者单位: College of Mechanical & Electrical Engineering,Shaanxi University of Science & Technology,Xian,Shaa College of Mechanical & Electrical Engineering,Shaanxi University of Science & Technology,Xian,Shaa

会议类型: 国际会议

会议名称: the 2012 2nd International Conference on Frontiers of Manufacturing Science and Measuring Technology (第二届制造科学与检测技术国际会议(ICFMM 2012))

会议地点: 西安

会议语种:英文

页码: 949-952

在线出版日期: 2012-06-12（万方平台首次上网日期，不代表论文的发表时间）