Dynamic simulation for a three-arm robot on orbit

Jinying Huang; Weimin Du; Hui Li; Zhihong Jiang; Huan Yang

doi:10.3969/j.issn.1004-132X.2016.03.008

Dynamic simulation for a three-arm robot on orbit

Jinying Huang, Weimin Du, Hui Li, Zhihong Jiang, Huan Yang

机电学院

科研成果: 期刊稿件 › 文章 › 同行评审

3 引用（Scopus）

摘要

A simplified robot model with three arms was designed according to the needs of space operations. The coordinate transformation matrix was established based on the D-H method and the kinematic equations of the robot were derived. Based on ADAMS virtual prototyping technology, the climbing process of the robot on a pole was simulated for three kinds of gravity, respectively. The force curves and effect factors were obtained so as to offer the design references for the robot.

源语言	英语
页（从-至）	328-333
页数	6
期刊	Zhongguo Jixie Gongcheng/China Mechanical Engineering
卷	27
期	3
DOI	https://doi.org/10.3969/j.issn.1004-132X.2016.03.008
出版状态	已出版 - 10 2月 2016

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10.3969/j.issn.1004-132X.2016.03.008

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AU - Du, Weimin

AU - Li, Hui

AU - Jiang, Zhihong

AU - Yang, Huan

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KW - Clamping force

KW - On orbit

KW - Robot

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Dynamic simulation for a three-arm robot on orbit

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