Kinematics Analysis on Cubic Mechanism with Auxiliary Joints

Jianguo Luo, Maoyan He, Yuanyuan Liu
2015 Proceedings of the 2015 International Conference on Environmental Engineering and Remote Sensing   unpublished
A new type of hybrid cubic manipulator with six degree of freedom(DOF) suggested based on traditional serial manipulator and parallel manipulator, analytic geometry method adopted to find its forward solution of position, simple expression and exclusive result obtained, as well as its inverse solution of position discussed here, still exclusive solution found. Making use of software to simulate the manufacturing of a round trajectory, position and velocity and acceleration of each input
more » ... each input parameter obtained, which can be verified through numerical computation, each input parameter decoupled very well, which greatly simplify the kinematics control of mechanism, perfect machine tool and so on can be developed based on the mechanism, research on the kinematics of this mechanism can provide reference to the practical application of it.
doi:10.2991/eers-15.2015.15 fatcat:bbujgxky4rftdcgk67haen2jvu