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Volume 27 Issue 5
May  2001
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Journal of Beijing University of Aeronautics and Astronautics  > 2001  >  27(5): 604-607.
REN Jing-yi, SUN Han-xu. Analysis of Kinematics of Three-Branch Space Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2001, 27(5): 604-607. (in Chinese)
Citation: REN Jing-yi, SUN Han-xu. Analysis of Kinematics of Three-Branch Space Robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2001, 27(5): 604-607. (in Chinese)
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Analysis of Kinematics of Three-Branch Space Robot

  • 1.

    Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation

  • 2. Beijing University of Posts and Telecommunications, Dept. of Mechanical and Electronics Engineering

  • Received Date: 21 Mar 2000
  • Publish Date: 31 May 2001
    Abstract
  • The kinematics of a three-branch space robot mechanism was analyzed by presenting its model and discussing its three working modes. The space robot is a kind of serial-parallel mechanism when it is working in carrying and cooperating modes. Since six out of its twelve joints are independent in this case, it is difficult to analyze and control this robot. By using influence coefficient method, the motion constraint equations of the mechanism were derived. The mapping of input and output was established. The inverse kinematics about velocity and acceleration were also solved.

     

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    • References(1)
  • [1] Xu Y S, Brown B H. Control system of the self-mobile space manipulator[J]. IEEE Transactions on Control Systems Technology, 1994, 2(3):207~219.  [2] Koivo A J, Unseren M A. Modeling closed chain motion of two manipulators holding a rigid object[J]. Mech Mach Theory, 1990, 25(4):427~438.  [3] Djurovic M D, Vukobratovic M K. A contribution to dynamic modeling of cooperative manipulation[J]. Mech Mach Theory, 1990, 25(4):407~415. [4] Xu L J, Fan S W, Chen Y. A numeric-symbolic approach for kinematics and dynamics of robotic manipulators[J]. Mech Mach Theory, 1995, 30(5):645~652.
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