Kinematic analysis and simulation of a new-type robot with special structure
Abstract
Common methods, such as Denavit-Hartenberg (D-H) method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed...
Paper Details
Title
Kinematic analysis and simulation of a new-type robot with special structure
Published Date
Dec 1, 2014
Journal
Volume
2
Issue
4
Pages
295 - 302
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