Paper Info
Title
Direct Kinematic Analysis Of A Heavy-Payload Forging Manipulator In The Grasping Stage
Abstract
Purpose - The purpose of this paper is to present the direct kinematic analysis of a heavy-payload forging manipulator. In the grasping stage, the manipulator is equivalent to a 3-DOF under-actuated mechanism. In order to deal with the direct position kinematics of the under-actuated mechanism, the analysis is performed in two steps.Design/methodology/approach - The paper analyzes the direct position kinematics of the 3-DOF under-actuated mechanism as follows: first, the authors add a virtual constraint on the mechanism, convert it to a 2-DOF fully actuated mechanism and calculate the direct kinematics of the constrained mechanism. Then, the constraint is applied to many different positions and the corresponding direct kinematics of the constrained mechanism are calculated, respectively. Finally, the mechanism with lower gravitational potential energy than any other constrained mechanism is chosen, and its direct position is what is needed for the 3-DOF underactuated mechanism.Findings - The paper provides a solution for the direct kinematic analysis of a heavy-payload forging manipulator in the grasping stage. Furthermore, the simulation and experiment results confirm the effectiveness of the solution.Originality/value - The paper proposes a methodology to deal with the direct position kinematics of the 3-DOF under-actuated mechanism in two steps.
Year
DOI
Venue
2012
10.1108/01439911211217134
INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
Keywords
Field
DocType
Kinematics, Mechanical systems, Direct kinematics, Forging manipulator, Under-actuated, Virtual constraint
Kinematics equations,Kinematics,Control theory,Simulation,Manipulator,Control engineering,Potential energy,Forging,Engineering,Underactuation,Mechanical system,Payload
Journal
Volume
Issue
ISSN
39
3
0143-991X
Citations 
PageRank 
References 
0
0.34
8
Authors
3
Name
Order
Citations
PageRank
Xiaobing Chu100.68
Feng Gao218245.20
Hao Ge394.76