2011•Unpublished venueRequires access

The kinematics analysis and simulation of the transposition manipulator

Zhenliang Li, Wenliang Li, LI Ya

Abstract

A 3-DOF special transposition manipulator, which can grab fern thickness was designed. By using software of Solidworks, the virtual prototype of the manipulator was setup. Then the manipulator's kinematics equations were set up and solverd by the method of D-H based on the software of ADAMS, the mechanism was simulated and analyzed, then its endeffector's displacement, velocity curve were obtained, which provides an important reliance for the control of the manipulator. And the correctness of kinematids model is verified by simulation results.

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Key concepts: Kinematics, Correctness, Kinematics equations, Transposition (logic), Displacement (psychology), Software, Parallel manipulator, Computer science