王启明, 胡明, 郭成, 蔡光起. 并联式钢坯修磨机器人动力学及轨迹规划研究[J]. 机器人, 1999, 21(1): 69-74..
WANG Qiming, HU Ming, GAO Cheng, CAI Guangqi. STUDY ON DYNAMICS AND TRAJECTORY PLAN OF IN PARALLEL BILLET SNAGGING ROBOT. ROBOT, 1999, 21(1): 69-74..
Abstract:This paper introduces a novel of in parallel billet snagging robotic mechanism,and analyzes kinematics and dynamics,gives out the explicit solution.The forth order ploynomial and clothoid is applied for the snagging path planning.Finally,use computer to simulate.
1 胡 明,蔡光起等.一种三自由度并联机器人机构运动学计算,东北大学学报,1998,19(8):362~364 2 Lee K M,Shah D K.Dynamic Analysis of a Three-degrees-of Freedom In-parallel Actuated Manipulator.IEEE Jof Robotics and Automation,1988,4(2):361~367 3 张同庄.机器人拐角轨道的光滑设计研究—Clothoid 曲线接续法,机器人,1990,12(3)