[1]金万敏.7R多关节型机械手的运动分析[J].东南大学学报(自然科学版),1986,16(3):11-20.[doi:10.3969/j.issn.1001-0505.1986.03.002]
 Jin Wanmin.Kinematic Analysis of 7R Multi-Joint Manipulators[J].Journal of Southeast University (Natural Science Edition),1986,16(3):11-20.[doi:10.3969/j.issn.1001-0505.1986.03.002]
点击复制

7R多关节型机械手的运动分析()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
16
期数:
1986年第3期
页码:
11-20
栏目:
本刊信息
出版日期:
1986-05-20

文章信息/Info

Title:
Kinematic Analysis of 7R Multi-Joint Manipulators
作者:
金万敏
南京工学院机械工程系
Author(s):
Jin Wanmin
Department of Mechanical Engineering
关键词:
机械手 运动分析 关节型 回转变换张量 空间矢量 回转角 坐标轴 冗余自由度 夹持点 仿人手臂
分类号:
+
DOI:
10.3969/j.issn.1001-0505.1986.03.002
摘要:
本文利用牧野建立的回转变换张量算法和计算公式来处理机械手的间接位置问题,方法简明、通用性强、适于计算机计算。
Abstract:
The rotational transformation matrix method and relevant equations derived by Hiroshi Makino are used to solve the indirect position problems of manipulators. This method is simple and generally accepted and convenient to computerize.

相似文献/References:

[1]杨晓辉,李中科,吴乐南.模型基编码中实时三维运动估计的新方法[J].东南大学学报(自然科学版),2002,32(6):848.[doi:10.3969/j.issn.1001-0505.2002.06.005]
 Yang Xiaohui,Li Zhongke,Wu Lenan.New real-time 3D motion estimation in model-based coding[J].Journal of Southeast University (Natural Science Edition),2002,32(3):848.[doi:10.3969/j.issn.1001-0505.2002.06.005]
[2]叶桦,冯纯伯.机械手的运动学最短时间轨迹规划[J].东南大学学报(自然科学版),1990,20(3):74.[doi:10.3969/j.issn.1001-0505.1990.03.012]
 Kinematic Minimum-Time Trajectory Planning for a Manipulator[J].Journal of Southeast University (Natural Science Edition),1990,20(3):74.[doi:10.3969/j.issn.1001-0505.1990.03.012]
[3]凌云,刘才山.机器人操作手弹性动力学分析一般模型[J].东南大学学报(自然科学版),1990,20(4):89.[doi:10.3969/j.issn.1001-0505.1990.04.013]
 Ling Yun,Liu Caishan.A General Model for Elastodynamic Analysis of Robotic Manipulators[J].Journal of Southeast University (Natural Science Edition),1990,20(3):89.[doi:10.3969/j.issn.1001-0505.1990.04.013]
[4]周根泉,郭务仁,凌云.机器人结构弹性动力学建模[J].东南大学学报(自然科学版),1989,19(6):22.[doi:10.3969/j.issn.1001-0505.1989.06.004]
 Zhou Genquan Guo Wuren Leng Uun(Department of Mechanical Engineering).Modelling of The Elasto-Dynamic Analysis of Robots[J].Journal of Southeast University (Natural Science Edition),1989,19(3):22.[doi:10.3969/j.issn.1001-0505.1989.06.004]
[5]吕庸厚.短暂停歇运动齿轮连杆机构的设计[J].东南大学学报(自然科学版),1983,13(1):96.[doi:10.3969/j.issn.1001-0505.1983.01.010]
 Lu Yong-hou.The Design of Gear-Link Mechanism for Short-period-Stop Intermittent Motion[J].Journal of Southeast University (Natural Science Edition),1983,13(3):96.[doi:10.3969/j.issn.1001-0505.1983.01.010]

更新日期/Last Update: 2013-05-01