The Modular Nonoverlapping Grasp Workspaces and Dynamics for the Grippers using the Micro and Macro C-Manifold Design

Basit Öğe Kaydı
dc.authoridSahin, Haydar/0000-0001-8435-9448
dc.authorwosidSahin, Haydar/ABI-4139-2020
dc.contributor.authorSahin, Haydar
dc.date.accessioned2024-06-13T20:18:40Z
dc.date.available2024-06-13T20:18:40Z
dc.date.issued2021
dc.departmentİstanbul Gedik Üniversitesien_US
dc.description.abstractThe toolbox for the gripper workspace analyses using Lie algebra is developed for shape variables (alpha(1- 4) - theta(1,2)) of the skew revolute joints. The unique methodology for grippers comprises to enable the variety of manifold analyses for kinematics and dynamics using symbolic mathematics. The Controllable Instantaneous Screw Axes (C-ISA) are defined through the shape variables considering the twists of the skew revolute joints se(3). The derivation and analyses of the kinematics and dynamics equations are made possible using the developed methodology with the defined constraints for gripper mechanisms. The Modular Gripper with Lie Algebra Toolbox (M-GLAT) is developed for the defined constraints of the angle between C-ISA 1 and C-ISA 2. The novelty subject of this article is the development of the M-GLAT method for derivation of the constraint based workspaces with the shape variables (alpha(1- 4) - theta(1,2)) in the field of the spatial 2-RR gripper mechanisms. The gripper dynamics with constraint based workspaces of the skew revolute joints are developed for varied configurations of alpha(1- 4) with ICs of theta(1,2). The modular rule-based workspaces are analyzed for the shape variables of the (alpha(1- 4) - theta(1,2)) with the task spaces. This design produces dexterity with the modular grasp workspaces for the gripper fingers with skew revolute joints. One can select a combination of C-manifolds of (pi/20, pi/40, pi/80) for the requirement of the nonoverlapping workspaces of the gripper finger designs as the grasp surfaces to control. The modular nonoverlapping workspace design with dynamics herein is based on the shape variables (alpha(1- 4) - theta(1,2)) using skew revolute joint which produce the high dexterity for the grasping capability of the grippers. The modular micro and macro C-manifold designs obtained the constraint based workspace algorithms of the 2-RR gripper which is expandable into the higher modular revolute joints of the n-R for the grippers. The n-R modular expandable grippers are increasing the precision and power grasping capability.en_US
dc.identifier.endpage776en_US
dc.identifier.issn0022-4456
dc.identifier.issn0975-1084
dc.identifier.issue9en_US
dc.identifier.scopus2-s2.0-85116158917en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage766en_US
dc.identifier.urihttps://hdl.handle.net/11501/1478
dc.identifier.volume80en_US
dc.identifier.wosWOS:000700620100004en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherNatl Inst Science Communication-Niscairen_US
dc.relation.ispartofJournal of Scientific & Industrial Researchen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectLie Algebraen_US
dc.subjectLie Group Theoryen_US
dc.subjectShape Variables Of Skew Revoluteen_US
dc.subjectSpatial Robot Kinematics And Dynamicsen_US
dc.subjectTask Spaceen_US
dc.subjectDouble Pendulumen_US
dc.subjectLocomotionen_US
dc.titleThe Modular Nonoverlapping Grasp Workspaces and Dynamics for the Grippers using the Micro and Macro C-Manifold Designen_US
dc.typeArticleen_US

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu