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Solving kinematics and stiffness of a novel n(2-UPS/PS+RPS) spatial hyper-redundant manipulator

Published online by Cambridge University Press:  11 February 2015

Bo Hu ,
Yin Wang ,
Jingjing Yu  and
Yi Lu
Bo Hu*
Affiliation:
Parallel robot and mechatronic system laboratory of Hebei province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P. R. China
Yin Wang
Affiliation:
College of Mechanical Engineering, Hebei United University063009, Tangshan, P. R. China
Jingjing Yu
Affiliation:
Department of Mechanics and Electronics, Heibei Normal University of Science & Technology, Qinhuangdao, P. R. China
Yi Lu
Affiliation:
Parallel robot and mechatronic system laboratory of Hebei province, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China
*
*Corresponding author. E-mail: hubo@ysu.edu.cn
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Summary

A novel n(2-UPS/PS+RPS) spatial hyper-redundant manipulator (SHRM) formed by an optional number of 2-UPS/PS+RPS(2-universal joint-prismatic joint-spherical joint/prismatic joint-spherical joint+revolute joint-prismatic joint-spherical joint) parallel manipulators(PMs) connected in series is proposed and analyzed in this paper. First, the forward kinematics of the 2-UPS/PS+RPS PM is derived in close form. By extending this result to the whole SHRM, the forward kinematics model of the n(2-UPS/PS+RPS) SHRM is established. Second, the compact and elegant expressions for solving the forward velocity of the n(2-UPS/PS+RPS) SHRM are derived. Third, the statics and stiffness of the n(2-UPS/PS+RPS) SHRM are analyzed systematically by considering both active forces and constrained forces existed in each 2-UPS/PS+RPS PM. Finally, an analytically solved example is given for a 4(2-UPS/PS+RPS) SHRM formed by four 2-UPS/PS+RPS PMs. The analytical results are verified by CAD software.

Keywords

Hyper-redundant manipulatorsKinematicsStaticsStiffness
Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016 , pp. 2386 - 2399
Copyright
Copyright © Cambridge University Press 2015 

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