The Isoconditioning Loci of A Class of Closed-Chain Manipulators
نویسندگان
چکیده
The subject of this paper is a special class of closedchain manipulators. First, we analyze a family of twodegree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the “inverse kinematics” and the “direct kinematics” matrices. It is shown that the loci of points of the workspace where the condition number of the direct-kinematics matrix remains constant, i.e., the isoconditioning loci, are the coupler points of the four-bar linkage obtained upon locking the middle joint of the linkage. Furthermore, if the line of centers of the two actuated revolutes is used as the axis of a third actuated revolute, then a three-dof hybrid manipulator is obtained. The isoconditioning loci of this manipulator are surfaces of revolution generated by the isoconditioning curves of the two-dof manipulator, whose axis of symmetry is that of the third actuated revolute.
منابع مشابه
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of threedegree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the jointrate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. The singular configurations of these matrices are studied. The is...
متن کاملNonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots
Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...
متن کاملDynamic Load Carrying Capacity of Mobile-Base Flexible-Link Manipulators: Feedback Linearization Control Approach
This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...
متن کاملTyping of HLA Class I by Polymerase Chain Reaction-Sequence Specific Oligonucleotide Primer (PCR-SSOP) Technique in Iranian Cord Blood Donors
Background: HLA compatibility between transplant donor and recipient is one of the major determinants of transplant outcome. Objective: To determine HLA class I by PCR- Sequence-Specific Oligonucleotide Probe (PCR-SSOP) in cord blood donors. Methods: Genomic DNA of 142 cord blood samples registered at the Cord Blood Bank of Iran at Hematology, Oncology, and Bone Marrow Transplantation Researc...
متن کاملGravity-Compensated Robust Control for Micro-Macro Space Manipulators During a Rest to Rest Maneuver
Many space applications require robotic manipulators which have large workspace and are capable of precise motion. Micro-macro manipulators are considered as the best solution to this demand. Such systems consist of a long flexible arm and a short rigid arm. Kinematic redundancy and presence of unactuated flexible degrees of freedom, makes it difficult to control micro-macro manipulators. This ...
متن کامل