首页|New Robotics Study Findings Have Been Reported from Shanghai University (Motion Performance Study of 2upr-1rps/2r Hybrid Robot Based On Kinematics, Dynamics, an d Stiffness Modeling)
New Robotics Study Findings Have Been Reported from Shanghai University (Motion Performance Study of 2upr-1rps/2r Hybrid Robot Based On Kinematics, Dynamics, an d Stiffness Modeling)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Data detailed on Robotics have been pr esented. According to news reporting from Shanghai, People's Republic of China, by NewsRx journalists, research stated, "The unique structural characteristics o f hybrid robots, such as few degrees-of-freedom (DOF) and redundant constraints, lead to a series of challenges in the establishment of theoretical models. Howe ver, these theoretical models are indispensable parts of motion control." The news correspondents obtained a quote from the research from Shanghai Univers ity, "Therefore, this paper focuses on establishing the kinematics, dynamics, an d stiffness models for an Exechon-like hybrid robot, which are then used for err or compensation and velocity planning to improve the robot's motion performance. First, the kinematic model is derived through intermediate parameters and the k inematics equivalent chains. By analyzing the parasitic motion due to few DOF, t he redundant equations in the model are eliminated to obtain the solution of inv erse kinematics. Second, based on the beam element, the optimal equivalent confi guration of the moving platform which connects the parallel part and serial part is determined, and then an entire equivalent structure of the robot is formed. It helps establish the stiffness model by using the matrix structure analysis me thod. Next, the dynamic model is established by combining the Newton-Euler metho d with co-deformation theory to solve the underdetermined dynamic equations caus ed by redundant constraints. Finally, the compensation method is designed based on the stiffness model and kinematic model to improve the end positioning accura cy of the robot; the velocity planning algorithm is designed based on the dynami c model and kinematic model to enhance the smoothness of the robot motion."
ShanghaiPeople's Republic of ChinaAs iaEmerging TechnologiesMachine LearningNano-robotRobotRoboticsShangh ai University
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