Application of Morphotronic Theory to Parallel Robots

Abstract

The main aim of this paper is to demonstrate the connection between parallel robotics and electronic circuits using the Morphotronic geometry. Parallel robotic system can be represented by a non Euclidean geometry which metric is the kinetic energy and the metric tensor is the mass metrics in the configuration space of the join angles. We can also remark that for electrical circuit we can have a similar non Euclidean geometry in the space of the currents or voltages. In this way we establish a morphological connection between the mechanical and electrical devises that we denote as Morphotronic. We present examples for the geometry in the kinetic space and example in the natural biological membrane represented by electrical circuits.