Kinematics of a Hybrid Series-Parallel Manipulation System

[+] Author and Article Information
K. J. Waldron

Department of Mechanical Engineering, The Ohio State University, Columbus, Ohio 43210

M. Raghavan, B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, Calif. 94305

J. Dyn. Sys., Meas., Control 111(2), 211-221 (Jun 01, 1989) (11 pages) doi:10.1115/1.3153039 History: Received September 17, 1987; Revised May 10, 1988; Online July 21, 2009


In this paper we first derive the coordinate transformations associated with a three-degree-of-freedom in-parallel-actuated micro-manipulator. Then we combine these results with the transformations associated with an in-series three-axis wrist on which the in-parallel micro-manipulator is mounted. The results are the basic transformation equations between joint-space position variables and end-effector (or task space) position variables for a hybrid series/parallel six-degree-of-freedom manipulator system. This structural combination results in a manipulator which exhibits desirable fine and gross motion characteristics as both a stand-alone device or as a sub-system of a more complex system with redundant degrees of freedom. The forward and inverse position kinematics and rate and force decomposition for this hybrid six-degree-of-freedom linkage are presented.

Copyright © 1989 by ASME
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