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Affiliation of Author(s):机电学院

Title of Paper:Self-motion manifold analysis on 8-DOF fiber placement manipulator

Journal:Dongnan Daxue Xuebao

Abstract:In consideration of the disadvantage that the inverse solutions of redundant manipulator'sjoints based on the gradient projection method were not always optimal, a new method using manifolds to analyze the inverse solutions of an 8-DOF fiber placement manipulator's joints was proposed in this study. The self-motion manifolds obtained by this method contain all of the inverse kinematic solution of fiber placement manipulator that helps to optimize the self-motion control roundly. According to the multi-dimensional characteristics of self-motion manifolds, the position joints space sub-manifolds and posture joints space sub-manifolds were respectively defined in working space of the 8-DOF fiber placement manipulator joint space, and the corresponding triaxial simulation curves of the manifolds were obtained respectively. The results show that the 8-DOF fiber placement manipulator, compared with the 7-DOF fiber placement manipulator, improved a lot in its flexibility and obstacle avoidance abilities because the motion corresponding to the mandrel's degree of freedom was in the fixed space. In the last, the method was verified by using the S-shaped inlet simulation. The result shows that the simulation trajectory was highly consistent with the desired trajectory which proved validity of the method proposed by the paper. © 2017, Editorial Department of Journal of Southeast University. All right reserved.

ISSN No.:1001-0505

Translation or Not:no

Date of Publication:2017-03-20

Co-author:zdb,Ying, Mingfeng,Cheng, Jinxiang,zlk

Correspondence Author:zdb,xp