Isotropic Design of Spatial Parallel Manipulators
نویسندگان
چکیده
In this paper, we study the isotropic design of two types of spatial parallel manipulators: a three-degrees-of-freedom manipulator and the Stewart–Gough platform. The isotropic conditions for Jacobian matrices, which relate the input joint velocity and output Cartesian velocity, are determined separately using a pure symbolic method. Thereafter, upon determining the isotropic conditions for both manipulators, the variation of the kinematic condition index is studied with respect to the motion of the moving platform to show how far the manipulator is from being isotropic. Finally, the isotropic conditions are obtained numerically for both manipulators. KEY WORDS—parallel manipulators, isotropic design, Jacobian matrix
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1 Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran. 2 School of Engineering Emerging Technologies, Mechatronics Laboratory, University of Tabriz, Tabriz, Iran. Corresponding author Email: [email protected] Abstract: In the design of parallel manipulators, usually mean value of a dexterity measure over the workspace volume is considered as the objective function to be...
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ورودعنوان ژورنال:
- I. J. Robotics Res.
دوره 21 شماره
صفحات -
تاریخ انتشار 2002