TY - GEN
T1 - Design of a novel serial and parallel force feedback master manipulator
AU - Wang, Hongmin
AU - Wu, Dongmei
AU - Du, Zhijiang
AU - Yan, Zhiyuan
AU - Li, Changjun
PY - 2010
Y1 - 2010
N2 - This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator such as parallel mechanism inverse kinematics and forward kinematics, jacobian matrix and serial mechanism kinematics are given. Thirdly, the master manipulator workspace is analyzed, and the master manipulator static stiffness for the three points in the workspace is also analyzed. Finally, the force feedback simulation experiment is carried out to verify the parallel mechanism force feedback. It can be seen that this novel serial and parallel master manipulator meets the design requirements and future force feedback.
AB - This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator such as parallel mechanism inverse kinematics and forward kinematics, jacobian matrix and serial mechanism kinematics are given. Thirdly, the master manipulator workspace is analyzed, and the master manipulator static stiffness for the three points in the workspace is also analyzed. Finally, the force feedback simulation experiment is carried out to verify the parallel mechanism force feedback. It can be seen that this novel serial and parallel master manipulator meets the design requirements and future force feedback.
UR - https://www.scopus.com/pages/publications/79952968528
U2 - 10.1109/ROBIO.2010.5723589
DO - 10.1109/ROBIO.2010.5723589
M3 - 会议稿件
AN - SCOPUS:79952968528
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 1710
EP - 1715
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -