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Volume 9 Issue 1
Oct.  2021
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Article Contents
Li Degao, Ma Xiangfeng. Dynamic and Kinematic Analysis for Robots with Closed Kinematic Chains[J]. Chinese Journal of Engineering, 1987, 9(1): 64-72. doi: 10.13374/j.issn1001-053x.1987.01.010
Citation: Li Degao, Ma Xiangfeng. Dynamic and Kinematic Analysis for Robots with Closed Kinematic Chains[J]. Chinese Journal of Engineering, 1987, 9(1): 64-72. doi: 10.13374/j.issn1001-053x.1987.01.010

Dynamic and Kinematic Analysis for Robots with Closed Kinematic Chains

doi: 10.13374/j.issn1001-053x.1987.01.010
  • Received Date: 1986-03-26
    Available Online: 2021-10-28
  • This paper provides kinematic and dynamic analysis for robots with the structure of single-closed kinematic chain.The single-closed kinematic chain is divided into left and right paths for establishing the motion equations of an intermediate link,and then the displacement,velocity and acceleration of the passive joints are derived. On the ground of these equations, the formulas of calculating velocity and acceleration of each link are obtained. Finally, the inverse dynamics of the robots is modelled, using Kane's dynamical equations.

     

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      沈陽化工大學材料科學與工程學院 沈陽 110142

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