Investigation of Dynamically Decoupled Anatomies for a Serial Metamorphic Manipulator

摘要

In this paper, the inertia characteristics of a 2 Degrees of Freedom (DoF) serial metamorphic manipulator (SMM) structure are investigated. Link mass redistribution is utilized as the dynamic decoupling design approach. The metamorphic structure of the manipulator provides the ability to perform mass redistribution, through the altering of the pseudojoints configuration (anatomy metamorphosis). The overall number of design parameters is reduced and simplicity of the proposed methodology is enhanced. The procedure presented, is executed for a 2 DoF SMM and the advantages of the metamorphic structure, compared with fixed anatomy manipulators, are featured.