Title :
Study on the workspace of 6-PSS bionic parallel machine horse
Author :
Qi-guang, Zhu ; Hong-rui, Wang ; Ying, Chen
Author_Institution :
Inst. of Inf. Sci. & Eng., Yanshan Univ., Qinhuangdao, China
Abstract :
Analyzed and studied the motion platform of the orthogonal 6-DOF PSS bionic parallel horse which come from the Stewart platform, described the layout features of its structure, based on inverse kinematics and constraints of the links, rotation range of the joints, using numerical boundary search method, and Matlab programming tools, solved the 6-PSS parallel machines horse workspace, drawn the outline of its workspace map, provided the theoretical basis for the design and application of parallel horse.
Keywords :
biocybernetics; mathematics computing; mobile robots; robot kinematics; search problems; 6-DOF PSS bionic parallel machine horse; 6-PSS parallel machines horse workspace; Matlab programming tools; inverse kinematics; numerical boundary search method; stewart platform; Area measurement; Biomimetics; Constraint theory; Horses; Parallel machines; Parallel programming; Parallel robots; Robot kinematics; Search methods; Service robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420946
