On the kinetostatic optimization of revolute-coupled planar manipulators

被引：21

作者：

Chablat, D

Angeles, J

机构：

[1] Inst Rech Commun & Cybernet Nantes, F-44321 Nantes, France

[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada

[3] McGill Univ, Ctr Intelligent Machines, Montreal, PQ H3A 2K6, Canada

来源：

MECHANISM AND MACHINE THEORY | 2002年 / 37卷 / 04期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1016/S0094-114X(01)00081-7

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 [机械工程];

摘要：

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix that is used as a reference model for the purpose of performance evaluation. Applications of the index fall in the realm of design, but control applications are outlined. The paper focuses on planar manipulators, the basic concepts being currently extended to their three-dimensional counterparts, (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：351 / 374

页数：24

共 12 条

[1]

KINEMATIC ISOTROPY AND THE CONDITIONING INDEX OF SERIAL ROBOTIC MANIPULATORS [J].