A Novel Mathematical Modeling of Constrained PRRRd Manipulators

I. Juárez Campos and B. Juárez Campos (Mexico)


Modeling, optimization, robotics, mechanisms, machine design.


The paper presents a methodic way of classifying constrained PRRRd manipulators by using Joint Geometric Regions that are abstract sets embodying non-trivial and independent joint variables as functions of end-effector coordinates. Joint Geometric regions provide information about the quality of kinematic structure from the perspective of optimal link length ratio. The best link length ratio helps to achieve the optimal productivity a PRRRd manipulator is able to offer because it takes advantage of the best distribution of joint torques. The resulting smoothness helps to avoid jerky motions, therefore, wear and vibration are reduced.

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