Topological and kinematical study of tree structure robot manipulators: Symbolic computation technique
✍ Scribed by Said M. Megahed
- Publisher
- Elsevier Science
- Year
- 1991
- Tongue
- English
- Weight
- 480 KB
- Volume
- 7
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
Tree structure robot manipulators have been seldomly studied because of the complexity of their topological structures compared to simple chain type. This paper presents the topological and kinematical analysis of such systems. The kinematic analysis is based on the idea of decomposing the whole model to a number of submodels, one for each arm of the tree. A complete symbolic kinematical analysis of a five-link tree structure with two end-effectors is presented. The necessary number of arithmetic operations for computing each model is also computed. This example shows the effectiveness of the approach used for kinematic analysis of this type of robot manipulators.