Open AccessKinematics analysis of pneumatic soft manipulator
Author(s) -
Lijun Shan,
Yunfei Li
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1754/1/012147
Subject(s) - kinematics , modular design , robotic arm , space (punctuation) , cantilever , section (typography) , computer science , software , engineering , structural engineering , mechanical engineering , simulation , physics , classical mechanics , programming language , operating system
A software mechanical grabbing device is designed to deal with space debris. The robotic arm is composed of unit segments of modular design, and the kinematic model of the unit segments of the mechanical arm is established by simplifying it into a cantilever beam model. The relationship among the driving space, joint space, and operation space of the unit section is analyzed, and its kinematics equations are established.