Maximum velocity analysis of parallel manipulators
نویسندگان
چکیده
In order to analyse the maximum velocity of parallel maniprdators in operational space, a graphical method based on the analysis of the algebraic inequalities describing the constraints on the kinematics mode[ is presented. We consider a general 6 d. of parallel manipulator and assume that all articrdar velocities are bounded by the same limit. The method is then applied to the Conventional Stewart Platform chosen as a reference and a New ParaIlel Manipulator for their performance comparisons, For these two parallel manipulators, respective formula of Jacobian matrix is also given.
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