Title: Design factors determining the cooperative manipulators of heterogeneous form using walking wheelchair

Authors: I.S. Rajay Vedaraj; Tabreez Musheer; B.V.A. Rao

Addresses: The School of Mechanical and Building Sciences (SMBS), VIT University, Vellore 632 014, Tamil Nadu, India. ' The School of Mechanical and Building Sciences (SMBS), VIT University, Vellore 632 014, Tamil Nadu, India. ' The School of Mechanical and Building Sciences (SMBS), VIT University, Vellore 632 014, Tamil Nadu, India

Abstract: Robotics technology deals with the design and analysis of robots in various forms in industries as well as in domestic applications. A robot manipulator can perform its task in various forms. Depending upon this, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective, still there are drawbacks in the design and the kinematic analysis of these manipulators prevails. In this research work a cooperative design of robot manipulators is presented and analysed for its efficacy. In general when manipulators are put together in more numbers, the trajectory planning becomes more complex. Proper design can remove the design defects of the cooperative manipulators and can be utilised in more efficient way. In the proposed research work an analysis is made on such a type of cooperative manipulators in the form of a walking wheelchair design and analysis.

Keywords: walking wheelchairs; heterogeneous cooperative manipulators; robot design; cooperative design; trajectory planning; wheelchair design; wheeled robots; walking robots; legged locomotion; robot locomotion.

DOI: 10.1504/IJISTA.2012.046540

International Journal of Intelligent Systems Technologies and Applications, 2012 Vol.11 No.1/2, pp.3 - 16

Received: 15 Sep 2011
Accepted: 30 Nov 2011

Published online: 17 Apr 2012 *

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