Abstract
Application of hybrid robotics is a continuously developing field, as hybrid manipulators have demonstrated that they can combine the benefits of serial structures and parallel mechanisms. In this paper, a novel 5-degree-of-freedom hybrid manipulator is designed. The structure of this manipulator and its kinematics analysis are presented. An innovative closedform solution was proposed to address the inverse kinematics problem. Additionally, the validity of the closed-form solution was verified via co-simulation using MATLAB and ADAMS. Finally, the reachable workspace of this manipulator was obtained for further optimizing the structure and motion control.
| Original language | English |
|---|---|
| Pages (from-to) | 765-774 |
| Number of pages | 10 |
| Journal | International Journal of Automation Technology |
| Volume | 9 |
| Issue number | 6 |
| DOIs | |
| State | Published - Nov 2015 |
Keywords
- Hybrid manipulator
- Inverse kinematics
- Kinematics
- Reachable workspace
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