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    Kinematics and Statics of a 3UPU Robot in Screw Coordinates

    Source: Journal of Mechanisms and Robotics:;2023:;volume( 015 ):;issue: 006::page 61004
    Author:
    Zhao, JingShan;Wei, SongTao;Sun, HanLin
    DOI: 10.1115/1.4056237
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper investigates the kinematics and statics of a 3UPU robot in screw coordinates. According to the definition of a twist, both the angular velocity of a rigid body and the linear velocity of a point on it are expressed in screw components. The twist equation is established to calculate the position and posture of each joint. This equation can be applied directly to analyze the statics. According to the definition of a wrench, both the force and torque of the planar linkages are expressed in wrench components. As a result, the wrench equations are established to express the resultant action of a force system in one coordinate frame. Compared with the traditional Cartesian coordinate method, the wrench equation is free from complex algebraic manipulation and convenient to obtain wrench matrix by Plücker coordinates of each wrench. Numerical calculation is applied to solve the kinematics which can conveniently depict the position and posture of each joint in the absolute coordinate frame. Six unknown variables can be solved with each equation of wrench that contains three forces and three torques. The kinematics and static analysis of the 3−UPU robot validate this method.
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      Kinematics and Statics of a 3UPU Robot in Screw Coordinates

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    contributor authorZhao, JingShan;Wei, SongTao;Sun, HanLin
    date accessioned2023-04-06T12:57:28Z
    date available2023-04-06T12:57:28Z
    date copyright1/17/2023 12:00:00 AM
    date issued2023
    identifier issn19424302
    identifier otherjmr_15_6_061004.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288832
    description abstractThis paper investigates the kinematics and statics of a 3UPU robot in screw coordinates. According to the definition of a twist, both the angular velocity of a rigid body and the linear velocity of a point on it are expressed in screw components. The twist equation is established to calculate the position and posture of each joint. This equation can be applied directly to analyze the statics. According to the definition of a wrench, both the force and torque of the planar linkages are expressed in wrench components. As a result, the wrench equations are established to express the resultant action of a force system in one coordinate frame. Compared with the traditional Cartesian coordinate method, the wrench equation is free from complex algebraic manipulation and convenient to obtain wrench matrix by Plücker coordinates of each wrench. Numerical calculation is applied to solve the kinematics which can conveniently depict the position and posture of each joint in the absolute coordinate frame. Six unknown variables can be solved with each equation of wrench that contains three forces and three torques. The kinematics and static analysis of the 3−UPU robot validate this method.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleKinematics and Statics of a 3UPU Robot in Screw Coordinates
    typeJournal Paper
    journal volume15
    journal issue6
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4056237
    journal fristpage61004
    journal lastpage610047
    page7
    treeJournal of Mechanisms and Robotics:;2023:;volume( 015 ):;issue: 006
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian