Abstract:
For customized design of a hybrid manipulator for a specific application, selection of an
appropriate configuration is always a challenge. To assist in this foremost decision in
data-driven synthesis, a novel approach is proposed for modular formation of quick configurations. Majorly, a unified methodology is presented for the development of respective
kinematic models and differential relations for their performance analyses. This unified
modular approach utilizes modular primitives to define planar hybrid configurations.
Three types of primitives are introduced as modular components, and the pattern study is
detailed. Modeling results from the proposed approach are also compared with normally
used partial differentiation with respect to the computational efforts, streamlined
modular implementations, and applicability in optimal design approaches. The comparison
highlights how the column-wise approach is appropriate for modular methodology. The
strategy will help a designer as a tool for analyzing several configurations. Two realistic
case studies are demonstrated in this article for application of the methodology in the
medical robotics field
