Mapping of kinematic and dynamic parameters for coupled manipulators

Document Type

Article

Publication Date

1-1-1993

Abstract

Industrial manipulators use various types of transmissions, such as gears, belts, chains, and parallel mechanisms, to transmit driving power to the links. By arrangement many such transmissions cause coupled joint motions. Manipulators having coupled joint motions are referred to as coupled manipulators. Conventional methods for constructing Jacobian matrix and compliance matrix are not directly applicable to coupled manipulators. The concept of the mapping matrix is used in this paper for establishing relationships of torque, speed, Jacobian and compliance of these manipulators with those obtained with conventional methods. A method of constructing the mapping matrix systematically is discussed. Two examples show that the proposed method is easy to implement.

Identifier

0027608727 (Scopus)

Publication Title

Journal of Mechanical Design Transactions of the ASME

External Full Text Location

https://doi.org/10.1115/1.2919189

ISSN

07380666

First Page

283

Last Page

288

Issue

2

Volume

115

This document is currently not available here.

Share

COinS