LU Tongjun, WU Zhiqiang, LI Bo, HAN Xiaojian, WU Pingchuan. PRINCIPLS, KINEMATICS AND CONTROL OF THE FLEXIBLE ARM WITH SPING STRUCTURE[J]. ROBOT, 1994, 16(2): 65-70.
Citation: LU Tongjun, WU Zhiqiang, LI Bo, HAN Xiaojian, WU Pingchuan. PRINCIPLS, KINEMATICS AND CONTROL OF THE FLEXIBLE ARM WITH SPING STRUCTURE[J]. ROBOT, 1994, 16(2): 65-70.

PRINCIPLS, KINEMATICS AND CONTROL OF THE FLEXIBLE ARM WITH SPING STRUCTURE

  • In this paper the mechanism theorem of the flexible robot arm with spine structure is expound-ed. The relationship between the curved movement of the arm and the drawn movement of the steel cables isstudied. In addition, we have deduced the homogeneous transformation of the arm and also simulated itsworking space on the basis of the kinematic analysis. And finally the method of driving and controlling theflexible arm is discussed.
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