A Kinematics Analysis for a 5-DOF Manipulator

摘要：

　　In order to analyze a five-degree-of-freedom(DOF)manipulator for special applications,this paper establishes its kinematics model firstly,and then analyzes its workspace and characteristics,and gets its inverse kinematics solution.Finally,its advantages and disadvantages are presented.On the basis of kinematics analysis,combining with the typical operating cases,we point out the existing problems for the manipulator,and then provide important guidance for the next optimization design.

关键词： 5-DOF Manipulator Kinematics Workspace Simulation

作者: Jinyan Lu De Xu Peng Wang

作者单位: Institute of Automation,Chinese Academy of Sciences,Beijing 100190,P.R.China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 1495-1499

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）