RESEARCH PAPERS: Mechanisms Papers

Dynamic Analysis of Hybrid Serial Manipulator Systems Containing Parallel Modules

[+] Author and Article Information
M. Sklar, D. Tesar

Manufacturing Systems Engineering, Mechanical Engineering Department, The University of Texas at Austin, Austin, TX 78712

J. Mech., Trans., and Automation 110(2), 109-115 (Jun 01, 1988) (7 pages) doi:10.1115/1.3258914 History: Received July 01, 1986; Online November 19, 2009


Alternatives to serial manipulator design incorporating parallel structure have been suggested in the literature. However, generic dynamic analysis techniques for these novel designs are not available. This paper presents a general method for the dynamic and kinematic analysis of hybrid systems which combine serial links with parallel structured modular devices. All necessary influence coefficients are derived for the general hybrid system. These influence coefficients allow the controlling and kinematic equations to be written such that the geometric parameters and the input dynamics are explicitly separated. A number of parallel modules are presented here. The use of parallel actuation in present industrial manipulators is reviewed.

Copyright © 1988 by ASME
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