Mapping of kinematic and dynamic parameters for coupled manipulators

Zhiming Ji, Ming C. Leu

Research output: Contribution to journalArticlepeer-review


Industrial manipulators use various types of transmissions, such as gears, belts, chains, and parallel mechanisms, to transmit driving power to the links. By arrangement many such transmissions cause coupled joint motions. Manipulators having coupled joint motions are referred to as coupled manipulators. Conventional methods for constructing Jacobian matrix and compliance matrix are not directly applicable to coupled manipulators. The concept of the mapping matrix is used in this paper for establishing relationships of torque, speed, Jacobian and compliance of these manipulators with those obtained with conventional methods. A method of constructing the mapping matrix systematically is discussed. Two examples show that the proposed method is easy to implement.

Original languageEnglish (US)
Pages (from-to)283-288
Number of pages6
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number2
StatePublished - 1993

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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