This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This...

In this article, we evaluate the self-motion curves of a 3R planar manipulator possessing one-degree-ofredundancy, different link lengths and joint limits. We demonstrate that one or two self-motion curves correspond to a given combination of values of primary task coordinates. Because of the manipulator’s mechanical restrictions, the self-motion can at one time be realized within one curve and...

We describe a technique for the stabilization of a 2R robot moving in the horizontal plane with a single actuator at the base, an interesting example of underactuated mechanical system that is not smoothly stabilizable. The proposed method is based on a recently introduced iterative steering paradigm, which prescribes the repeated application of an error contracting open-loop control law. In or...

Singularity is an inherent characteristic of a closed-chain manipulator. This paper presents an approach to singularity analysis of the planar 3-RRR parallel manipulator. On the basis of screw theory, the motion/force transmission analysis of the manipulator is first achieved. The singularity is classified into three types: constraint singularity, input transmission singularity, and output tran...

This project presents investigations into the applications and performance of embedded input shaper in command shaping techniques for vibration control of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. An unshaped bang-bang torque input is used to determine the characteristi...