Design of a 4-DOF Manipulator for GIS Detection

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Design of a 4-DOF Manipulator for GIS Detection
	Chang Y(常勇); Zhu SS(祝胜山); Qin JW(秦基伟); Su SY(苏双燕)
	2017
会议名称	7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
会议日期	July 31 - August 4, 2017
会议地点	Hawaii, USA
关键词	Joints configuration Manipulator connecting rod size Analytic Hierarchy Process
页码	442-448
通讯作者	Qin JW(秦基伟)
中文摘要	A 4-DOF manipulator for Gas Insulated Switchgear (GIS) detection is proposed in this paper. Firstly, the parameters of the structure dimension and the global flexibility are used to determine the configuration by comparing the characters of all kinds of joints configurations. After that, a mathematical model for optimal design of the mechanism of the manipulator is derived by considering the parameters named force operational degree, acceleration and flexibility. The two main linkage’s dimension of the manipulator is obtained by using the Optimal Calculation Module of MATLAB and the performance of the manipulator is simulated at last.
产权排序	1
会议录	7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017)
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-0489-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21311]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	Shenyang Institute of Automation, Chinese Academy of Sciences Shenyang, Liaoning Province, China
推荐引用方式 GB/T 7714	Chang Y,Zhu SS,Qin JW,et al. Design of a 4-DOF Manipulator for GIS Detection[C]. 见:7th Annual IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2017). Hawaii, USA. July 31 - August 4, 2017.