6-DOF

作品数：115被引量：378H指数：10
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Optimal Design of a 3-Leg 6-DOF Parallel Manipulator for a Specific Workspace被引量：15
《Chinese Journal of Mechanical Engineering》2016年第4期659-668,共10页FU Jianxun GAO Feng 
Supported by National Basic Research Program of China(973 Program,Grant No.2013CB035501)
Researchers seldom study optimum design of a six-degree-of-freedom（DOF） parallel manipulator with three legs based upon the given workspace.An optimal design method of a novel three-leg six-DOF parallel manipulator...
关键词：parallel robot optimal design workspace three legs 
Adaptive Real-time Predictive Compensation Control for 6-DOF Serial Arc Welding Manipulator被引量：6
《Chinese Journal of Mechanical Engineering》2010年第3期361-366,共6页WANG Xuanyin DING Yuanming 
Because of long driving chain and great system load inertia, the serial manipulator has a serious time delay problem which leads to significant real-time tracking control errors and damages the welding quality finally...
关键词：adaptive friction compensation neural network system identification 
CALIBRATION OF A 6-DOF SPACE ROBOT USING GENETIC ALGORITHM被引量：16
《Chinese Journal of Mechanical Engineering》2008年第6期6-13,共8页LIU Yu JIANG Yanshu LIANG Bin XU Wenfu 
supported by National Natural Science Foundation of China(No.60775049).
The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive pro...
关键词：Robot calibration Position and orientation accuracy Measurement noises Genetic algorithm 
NOVEL 6-DOF WEARABLE EXOSKELETON ARM WITH PNEUMATIC FORCE-FEEDBACK FOR BILATERAL TELEOPERATION被引量：3
《Chinese Journal of Mechanical Engineering》2008年第3期58-65,共8页ZHANG Jiafan FU Hailun DONG Yiming ZHANG Yu YANG Canjun CHEN Ying 
National Natural Science Foundation of China(No.50305035)
A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external struc...
关键词：Exoskeleton arm TELEOPERATION Pneumatic force-feedback Hybrid fuzzy control 
6-DOF MOTION AND CENTER OF ROTATION ESTIMATION BASED ON STEREO VISION被引量：8
《Chinese Journal of Mechanical Engineering》2008年第2期87-92,共6页CAO Wanpeng BI Wei CHE Rensheng GUO Wenbo YE Dong 
National Natural Science Foundation of China (No.50275040)
A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed...
关键词：Motion estimation Center of rotation 6-DOF motion Stereo vision 
APPLICATION OF FRF ESTIMATOR BASED ON ERRORS-IN-VARIABLES MODEL IN MULTI-INPUT MULTI-OUTPUT VIBRATION CONTROL SYSTEM
《Chinese Journal of Mechanical Engineering》2007年第4期101-105,共5页GUAN Guangfeng CONG Dacheng HAN Junwei LI Hongren 
This project is supported by Program for New Century Excellent Talents in University,China(No.NCET-04-0325).
The FRF estimator based on the errors-in-variables （EV） model of multi-input multi-output （MIMO） system is presented to reduce the bias error of FRF HI estimator. The FRF HI estimator is influenced by the noises i...
关键词：Multi-input multi-output（MIMO） system Errors-in-variables（EV） model 6-DOF hydraulic vibration table Waveform replication 
DIMENSIONAL DESIGN THEORY AND METHODOLOGY OF 6-DOF SCISSOR PARALLEL MANIPULATOR被引量：2
《Chinese Journal of Mechanical Engineering》2004年第1期6-10,共5页TangXiaoqiang LiTiemin WangJinsong 
This project is supported by National Natural Science Foundation of China(No.50305016);State High Technology Development Program of China(No.2002AA421180)
Parallel manipulators have many advantages over serial manipulators in termsof high load/weight ratio, velocity, stiffness and precision. A dimensional design theory andmethodology of six degrees of freedom scissor pa...
关键词：DIMENSION Design theory Parallel manipulator 
STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM被引量：1
《Chinese Journal of Mechanical Engineering》2002年第4期334-338,343,共6页Wu Jiangning Li ShilunState Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,Hangzhou 310027, China 
This project is supported by National Defense Science and Technology Multi-vocation Foundation in Advance Research of China(No. 97J465JW0408).
Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In...
关键词：parallel 6-DOF platform theodolite posture measurement nonlinearequation group structural parameters calibration 
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