Isotropic Design of Spatial Parallel Manipulators  

Oleh:

Fattah, A. ; Ghasemi, A.M. Hasan

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 9 (Sep. 2002), page 811-824.
Topik: parallel manipulators; isotropic design; Jacobian matrix
Fulltext: 811.pdf (392.12KB)

Isi artikel

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.

Opini Anda

Klik untuk menuliskan opini Anda tentang koleksi ini!

Kembali