标题：Kinematics analysis of a hot-line live working manipulator
作者：Ma, Xiao Lin ;Chai, Hui ;Li, Yun Jiang
作者机构：[Ma, Xiao Lin ;Li, Yun Jiang ] School of Mechanical and Electrical Engineering, Shandong Jianzhu University, Jinan, China;[Chai, Hui ] School of Contr 更多
会议名称：2014 International Conference on Applied Mechanics, Mechatronics and Intelligent System, AMMIS 2014
会议日期：18 April 2014 through 20 April 2014
来源：Applied Mechanics and Materials
关键词：Euler angles; Forward kinematics; Inverse kinematics; Manipulator; Workspace
摘要：This paper introduces the development of hot-line live working manipulators and gives a new configuration manipulator driven by hydraulic actuator firstly. Then, its forward kinematics equations are derived with homogenous transformation method. Finally, the analytical solutions of its inverse kinematics are solved under the condition that the posture of the end-effector is known and given with z-y-z Euler angles. © (2014) Trans Tech Publications, Switzerland.