• CN: 11-2187/TH
  • ISSN: 0577-6686

›› 1991, Vol. 27 ›› Issue (2): 51-55.

• Article • Previous Articles     Next Articles

THE KINEMATIC AND DYNAMIC CHARACTERISTICS ON SPECIAL CONFIGURATION OF MULTILOOP ROBOT MANIPULATOR YS-Ⅰ

Huang Zhen;Qu Yiyuan   

  1. Yanshan University
  • Published:1991-03-01

Abstract: The special configuration of multiloop manipulators is discussed in the paper: The main special configuration is introduced. The static analysis, the variation of the degrees of freedom, the determination of instantaneous motion and the dead point of the mechanism are presented.

Key words: 动力学, 机器人, Encoder eccentricity, Error analysis, Torsional vibration test