Inverse kinematics solution of a class of hybrid manipulators

Authors:
Shahram Payandeh;Zhouming Tang
Affiliations:
Experimental Robotics Laboratory, Simon Fraser University, Burnaby, British Columbia, Canada;Experimental Robotics Laboratory, Simon Fraser University, Burnaby, British Columbia, Canada
Venue:
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2011

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Abstract

Hybrid manipulators are defined as a kinematic configuration which combines two classes of kinematic chains, namely parallel and serial which can offer a design with six degrees of freedom. These configurations offer mechanical advantages where it is possible to locate most of the actuation and transmission systems away from the floating and distal parts of the manipulator. In this paper we present the kinematic modeling and solution of spherical-parallel and serial manipulator. We present both forward and inverse kinematic solutions and demonstrate the solution methodology through a numerical example.