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Control distribution of partially decoupled multi-level manipulators with five DOFs

Published online by Cambridge University Press:  03 July 2015

M. Loizaga ,
O. Altuzarra ,
Ch. Pinto  and
V. Petuya
M. Loizaga
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
O. Altuzarra
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
Ch. Pinto
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
V. Petuya*
Affiliation:
Mechanical Engineering Department, University of the Basque Country UPV/EHU, Alameda de Urquijo s/n 48013 Bilbao, Spain
*
*Corresponding author. E-mail: [email protected]
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Summary

Multi-level manipulators are those mechanisms in which two or more levels, that define the main chain of the manipulator, are joined in parallel to each other. Besides, each level is linked to the base in parallel by some limbs. Based on the idea of multi-level manipulators and using the concept of plain leg surfaces, the synthesis of partially decoupled manipulators with five degrees of freedom is presented. Among the different possibilities that exist to design the main chain of the manipulator, one is selected and the different manipulators that can be obtained from this option are analyzed. The concept of control distribution per level is presented and compared with the distribution of degrees of freedom per level. Finally, each of the proposed manipulators is studied and those which decouple the rotations are chosen.

Keywords

SynthesisDecoupled controlMultiple platformsParallel manipulators
Type
Articles
Information
Robotica , Volume 35 , Issue 2 , February 2017 , pp. 337 - 353
Copyright
Copyright © Cambridge University Press 2015 

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