Jacobian, Manipulability, Condition Number and Accuracy of Parallel Robots
نویسنده
چکیده
Parallel robots are nowadays leaving academic laboratories and are finding their way in an increasingly larger number of application fields such as telescopes, fine positioning devices, fast packaging, machine-tool, medical application. A key issue for such use is optimal design as performances of parallel robots are very sensitive to their dimensioning. Optimal design methodologies have to rely on kinetostatic performance indices and accuracy is clearly a key-issue for many applications. It has also be a key-issue for serial robots and consequently this problem has been extensively studied and various accuracy indices have been defined. The results have been in general directly transposed to parallel robots. We will now review how well these indices are appropriate for parallel robots.
منابع مشابه
Optimal Link Design of a Parallel Machine Tool Based on Manipulability Analysis
In this paper, the input-output transmission characteristics of the Eclipse, which is a type parallel machine tool capable of 5 face rapid machining, is investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics, together with the velocity and angular velocity transmission characteristics, are analyzed. A new manipulability measure,...
متن کاملTask-Based Optimal Design of a Stewart-Platform Manipulator: a New Rolling Mill
In this paper, a kinematic optimal design of a new parallel-type rolling mill based upon Stewart platform manipulator is investigated. The objective of this new parallel-type rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of the rolls, and tension of the strip. A manipulability measure, as the ratio of the manipulability el...
متن کاملOn the Manipulability of Velocity-constrained Serial Robotic Manipulators
Abstract: This paper presents a performance metric for the manipulability of constrained serial manipulators. The manipulability measure and manipulability ellipsoid are found from the manipulability Jacobian, which is easily found for serial manipulators as the standard Jacobian matrix, or for parallel manipulators as the Jacobian that gives the mapping from the active joint velocities to the ...
متن کاملOn the Manipulability of the Center of Mass of Humanoid Robots, Application to Design
This paper proposes an analysis of the manipulability of the Center of Mass (CoM) of humanoid robots. Starting from the dynamic equations of humanoid robots, the operational space formulation is used to express the dynamics of humanoid robots at their CoM and under their specific characteristics: a freefloating base, forces at contact points, and dynamic balance constraints. After a review of t...
متن کاملForward kinematic analysis of planar parallel robots using a neural network-based approach optimized by machine learning
The forward kinematic problem of parallel robots is always considered as a challenge in the field of parallel robots due to the obtained nonlinear system of equations. In this paper, the forward kinematic problem of planar parallel robots in their workspace is investigated using a neural network based approach. In order to increase the accuracy of this method, the workspace of the parallel robo...
متن کامل