Control Distribution of Partially Decoupled Multi-level Manipulators with 5 DOFs

Abstract

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.