REVIEW ARTICLE
Rating and Selection of Kinematic Linkages for Manipulators: Consideration of Parallelism and Number of Loops
A. Srinath*, 1, A. Jagadeesh2
1 Department of Mechanical Engineering, Koneru Lakshmaiah College of Engineering, Green Fields, Vaddeswaram, Guntur District, A.P, India
Article Information
Identifiers and Pagination:
Year: 2010Volume: 4
First Page: 56
Last Page: 60
Publisher Id: TOMEJ-4-56
DOI: 10.2174/1874155X01004010056
Article History:
Received Date: 9/3/2010Revision Received Date: 15/6/2010
Acceptance Date: 15/6/2010
Electronic publication date: 30/12/2010
Collection year: 2010
© 2010 Srinathand Jagadeesh
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
Abstract
Choosing an optimum linkage for any robotic manipulator is an important task and also a tedious one as it needs to simulate/test all the linkages and finally compare them, as we are aware that there are numerous linkages available for any given purpose based on their input and output functions. A method is being proposed here which generates, simulates/tests the linkages; provided the type of input and output is fixed. This method shall yield the best possible linkage as it focuses on the structural as well as the functional aspects and has no limitation for any type of linkage.
Keywords: Parallelism, manipulator linkages, kinematic chains, simulations, optimum linkage.
