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Reassembling Transformations for Robot Manipulators Characterised Using Network Theoretic and Clifford-Algebraic Methods

Published online by Cambridge University Press:  10 September 2020

Sudharsan Thiruvengadam Open the ORCID record for Sudharsan Thiruvengadam [Opens in a new window] ,
Jei Shian Tan  and
Karol Miller
Sudharsan Thiruvengadam*
Affiliation:
University of Western Australia, 35 Stirling Highway, Crawley, Perth, WA 6009, Australia BlueStem Pty. Ltd., 128 Parry Avenue, Bull Creek, Perth, WA 6149, Australia
Jei Shian Tan
Affiliation:
BlueStem Pty. Ltd., 128 Parry Avenue, Bull Creek, Perth, WA 6149, Australia
Karol Miller
Affiliation:
University of Western Australia, 35 Stirling Highway, Crawley, Perth, WA 6009, Australia
*
*Corresponding author. E-mail: dan.thiru@bluestem.com.au
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Summary

A robotic manipulator’s classical mechanical capabilities are governed by the design parameters (mass, geometry, dimensions, etc.) of its kinematic pairs and its architecture (number of limbs, degrees of freedom, actuation ability, etc.). Using Clifford-Algebraic and network theoretic methods, this work presents a novel-theoretical framework which allows any two robot architectures and design parameters to be mathematically related to one another through combinations of discrete operators or ‘reassembling transformations’. Two theoretical case studies involving a 6R manipulator and Klann linkage are furnished in this work.

Keywords

Robotic manipulatorsClifford AlgebraNetwork theorySynthesisSerialParallel
Type
Articles
Information
Robotica , Volume 39 , Issue 5 , May 2021 , pp. 816 - 841
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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