Morphological Generation of Planar Mechanisms in Robotics by Sub-Chain Symmetry Approach

P. Mitrouchev (France)


Robot design, architecture, morphology, symmetry, planar mechanisms.


A morphological confined choice for kinematic mechanisms in robotics is presented. It is based on sub chain symmetries of structures taking into account the position of the frame and of the end-effector of the robot. Pairs of groups of mutually symmetrical mechanisms are detected. Thus, the number of possible configurations is confined by eliminating the symmetrical ones. Different cases of symmetries have been studied. Expressions for the calculation of the number of frames and end-effectors are presented. They enable the reduction of the number of structures by avoiding those that are isomorphic. Following this, examples for applications for various kinematic structures are presented, enabling the field of research to be restricted to the possible solutions.

Important Links:

Go Back