Kinematic and dynamic analysis of a brachiating tree-to-tree machine

Abstract

A novel brachiating, biped mobility platform for tree to tree traversal is analyzed by its kinematics and dynamics. The machine performs brachiation in the horizontal plane. Firstly, the kinematic model is derived then used to investigate the workspace of the end effector. The optimal grasping location is identified through the Yoshikawa manipulability measure. Secondly, actuator performance and limitations are identified through dynamic analysis of joint torques. Pose optimization is identified and the coupling with inertia is determined.