Publication
Kinematic synthesis using tree topologies
Journal Article (2014)
Journal
Mechanism and Machine Theory
Pages
94-113
Volume
72
Doc link
http://dx.doi.org/10.1016/j.mechmachtheory.2013.10.004
File
Authors
-
Simo Serra, Edgar
-
Pérez Gracia, Alba
Abstract
This paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands.
Categories
manipulators, robot kinematics.
Scientific reference
E. Simo-Serra and A. Perez-Gracia. Kinematic synthesis using tree topologies. Mechanism and Machine Theory, 72: 94-113, 2014.
Follow us!