ADJACENT MARTIX METHOD OF IDENTIFYING ISOMORPHISM TO PLANAR KINEMATIC CHAIN WITH MULTIPLE JOINTS AND HIGHER PAIRS

The adjacent matrix method for identifying isomorphism to planar kinematic chain with multiple joints and higher pairs is presented. The topological invariants of the planar kinematic chain can be calculated and compared by adjacent matrix. The quantity of calculation can be reduced effectively using the several divisions of bars and the reconfiguration of the adjacent matrix. As two structural characteristics of adjacent matrix, the number of division and division code are presented. It can be identified that two kinematic chains are isomorphic or not by comparing the structural characteristics of their adjacent matrixes using a method called matching row-to-row. This method may be applied to the planar linkage chain too. So, the methods of identifying isomorphism are unified in the planar kinematic chain that has or hasn＇t higher pairs with or without multiple joints. And it has some characters such as visual, simple and convenient for processing by computer, and so on.

MANIPULATION KINEMATICS ON DEXTEROUS HANDS CONSIDERING PURE ROLLING CONTACTS AS PASSIVE JOINTS

The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differential kinematics and mobility are studied. The minimal structure for realizing the task motion of the object is obtained, and the conditions for dexterous manipulation are presented. Finally, some rolling manipulations are used as examples to demonstrate the applicability of approach proposed.

Motion capability analysis of a quadruped robot as a parallel manipulator

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.