New Performance Indices for 6-dof UPS and 3-dof RPR Parallel Manipulators
نویسنده
چکیده
In this paper we introduce two new posture-dependent performance indices for 6dof UPS and 3-dof RPR parallel manipulators. One is based on an object-oriented metric in the workspace (end-effector dependent) and the other one takes the angular velocities of the passive joints into consideration (end-effector independent). Both newly defined indices are invariant under rigid-body motions and similarities, they have a geometric meaning, and they can be computed in real time. Moreover these indices can also be used for robot design, especially the end-effector independent index is suited for that problem by taking the geometry of the manipulator into consideration. We also optimize the design of 6-dof UPS and 3-dof RPR parallel manipulators with respect to both newly presented indices.
منابع مشابه
Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs
This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the ma...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کامل19 A Novel 4 - DOF Parallel Manipulator H 4
Parallel manipulators have the advantages of high stiffness and low inertia compared to serial mechanisms. Based on the Steward-Gough platform architecture, a lot of 6-DOF mechanical devices have been proposed. The 6-DOF parallel manipulators suffer from a small workspace, complex mechanical design, and difficult motion generation and control due to their complex kinematic analysis. To overcome...
متن کاملDimensional Synthesis of Parallel Manipulators Based on Direction-Dependent Jacobian Indices
This work proposes direction-dependent Jacobian indices that allow tackling the performance evaluation and dimensional synthesis of parallel manipulators. These indices characterize the kinetostatic capabilities of a manipulator along and about each direction of the Cartesian space and are more likely to help the designer to achieve an assessment of different geometries without having to resort...
متن کاملA new family of spatial 3-DOF parallel manipulators with two translational and one rotational DOFs
This paper proposes a new family of spatial 3-DOF (degree of freedom) parallel manipulators with two translational and one rotational DOFs. The manipulators in this family are the variations of the parallel manipulators, which are capable of very high rotational capability, introduced by X.-J. Liu, J. Wang, and G. Pritschow (“A new family of spatial 3-DoF fully parallel manipulators with high r...
متن کامل