%0 Journal Article
%A HUANG Qineng
%A LIAO Qizheng
%A WEI Shimin
%A ZHANG Ying
%T The Inverse Kinematic Analysis of Spatial 1P5R Serial Manipulators Based on The Double Matrix
%D 2022
%R 10.13190/j.jbupt.2021-098
%J Journal of Beijing University of Posts and Telecommunications
%P 33-38
%V 45
%N 1
%X Introducing the double-matrix into the kinematic analysis of serial manipulators, and combined with the four-dimensional rotation matrix, a novel method for the inverse kinematic analysis of spatial 1P5R serial manipulators is proposed. Fourteen kinematic constraint equations for the inverse kinematic analysis are readily obtained by applying the proposed method. A univariate 16th-degree polynomial equation is derived by the linear elimination and Sylvester resultant elimination from the aforementioned fourteen equations. A numerical example and the corresponding 3D configuration based on SolidWorks are provided to verify the correctness. A signficant advantage of the proposed method lies in that 14 inverse kinematic constraint equations can be readily obtained without vector operation and projection operation, and it also provides a new insight for the modeling to the inverse kinematic analysis of other serial manipulators.
%U https://journal.bupt.edu.cn/EN/10.13190/j.jbupt.2021-098