Developmentoof a Unified Kinematic Theory of Combination Serial and Parallel Mechanisms

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The proposed research addresses forward and inverse position kinematics of mechanical configurations comprising combinations of both serial and parallel chain segments. The intent is to lay the foundations of a general theory which will address issues of controllability and complexity of coordination computations. This research covers a broad class of mechanisms which includes systems as diverse as autonomous planetary rover vehicles and flexible manufacturing systems. The study addresses the implications of different ways of combining serial and parallel substructures for the direct and inverse position and rate kinematics of these mechanism, and for the associated force decomposition characteristics. Many examples of such mechanisms have already been developed and include the multi-fingered hand with multiple independently actuated joints in each finger, a parallel mechanism in an overall sense, but with each limb comprising a serial chain with several actuated joints connected in series. Some study of combined serial and parallel mechanisms has occurred, but the topic is clearly in need of expanded research to provide for a comprehensive theory. The theory should allow designers to make use of combination structures in a manner which will provide improved performance over either purely serial or purely parallel architectures.