Modeling And Simulation Of Very Small In-Parallel Wrench Sensor Cum Manipulator (SCM)

摘要

The wrench Sensor-cum-Manipulator (SCM) is a very crucial system for simultaneously sensing the wrench and manipulating the object. The small SCM system could serve as a standalone system for many applications and also as a very sophisticated tool holder at the end-effector of the serial robot. In this paper the aspects of kinematic design of the SCM is presented, dynamics of the manipulator for a given trajectory and external wrench is obtained and all the important aspects for wrench sensing are considered. The limitations due to mechanical interference, constraints posed due to optimum kinematic structure, locations of motors are considered for the analysis. The paper presents a design of a very small sized SCM.