Control distribution of partially decoupled multi-level manipulators with five DOFs

Abstract

SUMMARYMulti-level manipulators are those mechanisms in which two or more levels, that define the main chain of the manipulator, are joined in parallel to each other. Besides, each level is linked to the base in parallel by some limbs. Based on the idea of multi-level manipulators and using the concept of plain leg surfaces, the synthesis of partially decoupled manipulators with five degrees of freedom is presented. Among the different possibilities that exist to design the main chain of the manipulator, one is selected and the different manipulators that can be obtained from this option are analyzed. The concept of control distribution per level is presented and compared with the distribution of degrees of freedom per level. Finally, each of the proposed manipulators is studied and those which decouple the rotations are chosen.

A Simple Method to Solve the Instantaneous Kinematics of the 5-RUR Parallel Manipulator

“…Ding et al 12 developed a software for the semiautomated structure synthesis of 5-dof symmetrical and asymmetrical parallel manipulators. Loizaga et al 13 shown that the synthesis of 5-dof partially decoupled manipulators can be achieved combining the idea of multi-level manipulators 14,15 and the concept of plain leg surfaces. Wang et al 16 introduced a 5-dof PM able to perform the 3T2R motion showing a high-rotational capability, an attribute preferred in this kind of robots.…”