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
