What is 16 feet long, 10 feet high, weighs 6,000 pounds, has six legs, and can sprint at 8 mph and step over a 4 foot wall? The Adaptive Suspension Vehicle (ASV) described in this book.
Waldron, KJ, Raghavan, M & Roth, B 1989, 'Kinematics of a hybrid series-parallel manipulation system', Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, vol. 111, no. 2, pp. 211-221.
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In this paper we first derive the coordinate transformations associated with a threedegree-of-freedom in-parallel-actuated micro-manipulator. Then we combine these results with the transformations associated with an in-series three-axis wrist on which the in-parallel micro-manipulator is mounted. The results are the basic transformation equations between joint-space position variables and end-effector (or task space) position variables for a hybrid series/parallel six-degree-of-freedom manipulator system. This structural combination results in a manipulator which exhibits desirable fine and gross motion characteristics as both a stand-alone device or as a sub-system of a more complex system with redundant degrees of freedom. The forward and inverse position kinematics and rate and force decomposition for this hybrid six-degree-of-freedom linkage are presented. © 1989 ASME.