Analysis of Internal Loading for Triple Manipulator Robotics

Multiple robotics systems with several sub-chains have a characteristic that grasp a common object with internal loading not to loose the grip. The investigation for the internal loading of a triple manipulator has been few as compared to a dual manipulator. In this paper, type of the internal loading for a triple manipulator system is investigated through analysis of the null space of the system. Several types of the internal loading are shown for general planar and spatial type triple robots, which rigidly grasp the common object. The general scheme is applied to analysis of the internal loading for the three-fingered and three-legged robots having a point contact with the grasped object.