Control Distribution of Partially Decoupled Multi-level Manipulators with 5 DOFs
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Fecha
2017-02-01Autor
Loizaga Garmendia, Maider
Pinto Cámara, Charles Richard
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Robotica 35(2) : 337-353 (2017)
Resumen
Multi-level manipulators are those mechanisms in which two or more levels,
that de ne the main chain of the manipulator, are joined in parallel to
each other. Besides, each level is linked to the base in parallel by some
limbs. Based on the idea of multi-level manipulators and using the concept
of plain leg-surfaces, the synthesis of partially decoupled manipulators with
ve degrees of freedom is presented. Among the di erent possibilities that
exist to design the main chain of the manipulator, one is selected and the
di erent manipulators that can be obtained from this option are analyzed.
The concept of control distribution per level is presented and compared with
the distribution of degrees of freedom per level. Finally, each of the proposed
manipulators is studied and those which decouple the rotations are chosen.