On the jacobian computation of planar hybrid manipulators: a unified approach

Abstract

Utilization of hybrid topology of a robotic manipulator is explored by several researchers both for planar and spatial mechanisms. The motivation lies in the fact that serially connected links are normally selected for large manipulability and parallel manipulators are utilized for better stiffness. The selection of a hybrid configuration is normally done through some experience and/or through the knowledge based upon previously used linkages. No assistance is available for selection of the basic robotic structure corresponding to a given task, say working locations and payload capacity. An attempt is presented towards a unified approach to compute kinematic performance of planar hybrid manipulators with the links connected in series, in loops and in combinations of both. This paper presents an approach to compute Jacobian for any planar hybrid manipulator in a unified way. It is expected that such an approach will avoid the requirement of separately writing the kinematic model of each hybrid structure and thus assist in evolving basic topology of a hybrid structure