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Whole arm manipulation using closed and hybrid planar chains: A kinematic study

Pilli, SC and Mruthyunjaya, TS (2004) Whole arm manipulation using closed and hybrid planar chains: A kinematic study. In: 11th World Congress in Mechanism and Machine Science, APR 01-04, 2004, Tianjin, PEOPLES R CHINA.

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This paper studies planar whole arm manipulation of a circular object using closed loop and hybrid manipulators. The manipulation is simple with fewer degrees of actuation than the task space. This is an useful operation if the initial and final positions of the object are on the same surface. Closed loop manipulator is a 4/5 bar mechanism. In hybrid manipulators a open loop manipulator with 3/4 links is attached to the floating link of 4/5 bar mechanism. The mobility analysis is carried out to find the connectivity of the object with reference to frame. The manipulation (forward kinematics) starts from a given configuration of the object and the manipulator. In hybrid manipulators determination of initial configuration involves inverse kinematics of open loop manipulator. The input joint velocities are used to demonstrate the manipulation. Conditions are specified for prehensile manipulation.

Item Type: Conference Paper
Additional Information: Copyright of this article belongs to China Machine Press.
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Depositing User: Ms V Mangala
Date Deposited: 08 Mar 2012 04:30
Last Modified: 08 Mar 2012 04:30
URI: http://eprints.iisc.ac.in/id/eprint/43800

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