The kinematics analysis and simulation of the transposition manipulator

Author

Zhenliang Li ; Wenliang Li ; Ya Li

Author_Institution

Coll. of Mech. Eng., Tianjin Univ. of Sci. & Technol., Tianjin, China

Volume

6

fYear

2011

fDate

12-14 Aug. 2011

Firstpage

2959

Lastpage

2962

Abstract

A 3-DOF special transposition manipulator, which can grab fern thickness was designed. By using software of Solidworks, the virtual prototype of the manipulator was setup. Then the manipulator´s kinematics equations were set up and solverd by the method of D-H based on the software of ADAMS, the mechanism was simulated and analyzed, then its endeffector´s displacement, velocity curve were obtained, which provides an important reliance for the control of the manipulator. And the correctness of kinematids model is verified by simulation results.

Keywords

control engineering computing; end effectors; manipulator kinematics; 3-DOF special transposition manipulator; ADAMS; Solidworks; end effector displacement; manipulator kinematics equations; velocity curve; virtual prototype; Analytical models; Joining processes; Joints; Kinematics; Manipulators; Solid modeling; ADAMS simulation; kinematics analysis; manipulator; the method of D-H;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on

Conference_Location

Harbin, Heilongjiang, China

Print_ISBN

978-1-61284-087-1

Type

conf

DOI

10.1109/EMEIT.2011.6023668

Filename

6023668