Analysis of duality‑based interconnected kinematics of planar serial and parallel manipulators using screw theory
- Title
- Analysis of duality‑based interconnected kinematics of planar serial and parallel manipulators using screw theory
- Author
- 이병주
- Keywords
- Duality; Serial manipulator; Parallel manipulator; Inter-kinematic
- Issue Date
- 2020-01
- Publisher
- SPRINGER HEIDELBERG
- Citation
- INTELLIGENT SERVICE ROBOTICS, v. 13, no. 1, Page. 47-62
- 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.
- URI
- https://link.springer.com/article/10.1007%2Fs11370-019-00294-7https://repository.hanyang.ac.kr/handle/20.500.11754/163306
- ISSN
- 1861-2784; 1861-2776
- DOI
- 10.1007/s11370-019-00294-7
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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