Publication

Hanyang University HumanRobotics Lab

International Journal
Analysis of duality-based interconnected kinematics of planar serial and parallel manipulators using screw theory
Journal
Intelligent Service Robotics
Vol
Vol. 13, No. 1
Page
pp. 47-62
Author
H. Iqbal, M. U. A. Khan, and B.-J. Yi
Year
2020
Date
2020.01
File
Analysis of duality-based interconnected kinematics of planar serial and parallel manipulators using screw theory.pdf (4.0M) 2회 다운로드 DATE : 2020-10-19 14:24:36
Abstract: In this paper, a method has been proposed to analyze the planar architectures of serial and parallel manipulators, based on the duality associated with their interconnected kinematics. The interconnected kinematics states that model of one architecture can be derived from the kinematic model of the other, using screw theory approach. The performance of the initial and the derived manipulators was evaluated with three criteria: isotropy, maximum force transmission ratio and local transmission index. Without loss of generality, the serial manipulator derived from parallel has better isotropy, while the parallel manipulator derived from serial can be designed to have better force and power transmission.