Zhang Jinbai, Zheng Zhaohu. Direct numerical simulation of turbulent channel flow of polymer solution[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(12): 1417-1420. (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)

Analysis of Kinematics of Three-Branch Space Robot

  • Received Date: 21 Mar 2000
  • Publish Date: 31 May 2001
  • 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.

     

  • [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.
  • Relative Articles

    [1]CUI Zhen, ZHAO Zhigang, SU Cheng, MENG Jiadong, ZHAO Xiangtang, CHAI Wei. Dynamics and Dynamic Stability Analysis of Rope Traction Upper Limb Rehabilitation Robot[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0827
    [2]ZHU X Q,WANG T,RUAN X G,et al. Gait learning method of quadruped robot based on policy distillation[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):428-439 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0069.
    [3]LU X,SUN Y N,TANG J,et al. Kinematic characteristics analysis of vehicle-aircraft towing taxi system considering wheel deformation[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):478-486 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0029.
    [4]JIN B,LI S Y,LIU N N,et al. Kinematic absolute and relative orbit determination of Swarm satellites with heterogeneous orbits[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):409-418 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0039.
    [5]ZHAO Z W,HAN Y Q. Risk assessment of violations of air freight forwarders[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(12):3654-3665 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0876.
    [6]HAN Y,SUN B B,WANG J G,et al. Target person analysis based on critical node recognition algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(7):2074-2082 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0588.
    [7]ZHANG C Y,WANG G,CHE H L,et al. Motion analysis and gait planning of a novel revolving wheel-legged robot[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(5):1675-1684 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0491.
    [8]HE T Y,DONG Y,TAN L M,et al. Kinematic analysis and continuous gait planning of lunar-based equipment in walking state[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(1):308-316 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0232.
    [10]LIU Z Y,ZHANG G,LIU H R,et al. Software robot-based application behavior simulation for cyber security range in industrial control field[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(7):2237-2244 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0597.
    [11]DONG B X,QIN T,YANG X,et al. Human-machine collaborative control of forward shovel hydraulic mining excavators[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(6):1952-1959 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0517.
    [12]ZHANG Dong-dong, WANG Chun-ping, FU Qiang. Camouflaged Object Detection Network Based on Human Visual Mechanisms[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0511
    [13]WANG R P,SONG X,CHEN K,et al. Pedestrian trajectory prediction method based on pedestrian pose[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(7):1743-1754 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0557.
    [14]WANG C Y,YANG L M,LI Y H. A mapping leader formation control strategy for multiple mobile robots based on two-stage sliding mode control[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(11):3108-3114 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0792.
    [15]DUAN A N,ZHOU R,DI B. Multi-robot cooperative coverage of key regions considering prior information[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1479-1486 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0435.
    [16]WANG Z D,GUANG C H,WANG L Q,et al. Design and implementation of robot-assisted subretinal injection system[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(9):2406-2414 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0667.
    [17]XIA Xin-hui, JIA Ying-hong, ZHANG Jun. Spherical-caging-based control of a dual-arm space robot for capturing an object[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0258
    [18]YANG Jialin, LIN Chunyu, NIE Lang, LIU Meiqin, ZHAO Yao. Crowd density estimation for fisheye images[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(8): 1455-1463. doi: 10.13700/j.bh.1001-5965.2021.0520
    [19]CHI Shengkai, XIE Yongfang, CHEN Xiaofang, PENG Fan. Obstacle avoidance method of mobile robot based on obstacle cost potential field[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(11): 2289-2303. doi: 10.13700/j.bh.1001-5965.2021.0095
    [20]ZHANG Libo, LI Yupeng, ZHU Deming, FU Yongling. Inverse kinematic solution of nursing robot based on genetic algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(10): 1925-1932. doi: 10.13700/j.bh.1001-5965.2021.0042
  • Cited by

    Periodical cited type(2)

    1. Yunlong Hu,Jia Song,Mian Wu. A Review of Control Methods for Tailless Aircraft. Guidance, Navigation and Control. 2024(04): 5-36 .
    2. 刘亮,陶呈纲,薛艺璇,甄子洋,曹红波. 基于增量动态逆的V/STOL飞机悬停段控制. 飞行力学. 2022(04): 27-33 .

    Other cited types(2)

  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(2498) PDF downloads(813) Cited by(4)
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return