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Dynamics analysis of novel hybrid robotic arm with three fingers

Published online by Cambridge University Press:  28 May 2015

Yi Lu ,
Zhuohong Dai  and
Nijia Ye
Yi Lu*
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China Parallel robot and mechatronic system laboratory of Hebei province, Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, College of Mechanical Engineering, Yanshan University, Qinhuangdao, 6 Hebei, 066004, P. R. China
Zhuohong Dai
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
Nijia Ye
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P. R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
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Summary

A novel hybrid robotic arm with three fingers is proposed for assembly, operation and rescue. It is composed of an upper 3RPS-type parallel manipulator, a lower 3SPR-type parallel manipulator and three fingers. Its dynamics are studied and analyzed systematically. First, the kinematics formulae of the moving links at their mass centers in the hybrid robotic arm with three fingers are established. Second, the formulae for solving the inertial wrench of the moving links at their mass centers are derived. Third, a dynamics formula is established for solving the dynamic active/constrained forces of the hybrid robotic arm and the fingers. Finally, an analytic example is given for solving the kinematics and dynamics of the hybrid robotic arm with three fingers and the analytic solved solutions are verified by a simulation mechanism.

Keywords

Hybrid robotic armFingerDynamics
Type
Articles
Information
Robotica , Volume 34 , Issue 12 , December 2016 , pp. 2759 - 2775
Copyright
Copyright © Cambridge University Press 2015 

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