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

Download the digital copy of the doc pdf document

Authors

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.