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RESEARCH PAPERS: Mechanisms Papers

Mapping of Kinematic and Dynamic Parameters for Coupled Manipulators

[+] Author and Article Information
Zhiming Ji, Ming C. Leu

Department of Mechanical and Industrial Engineering, New Jersey Institute of Technology, Newark, NJ 07102

J. Mech. Des 115(2), 283-288 (Jun 01, 1993) (6 pages) doi:10.1115/1.2919189 History: Received March 01, 1990; Online June 02, 2008

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.

Copyright © 1993 by The American Society of Mechanical Engineers
Topics: Manipulators
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