Isotropic design of spatial parallel manipulators

被引：94

作者：

Fattah, A ^{[1
]}

Ghasemi, AMH

机构：

[1] Univ Delaware, Dept Mech Engn, Newark, DE 19716 USA

[2] Isfahan Univ Technol, Dept Mech Engn, Esfahan, Iran

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2002年 / 21卷 / 09期

关键词：

parallel manipulators; isotropic design; Jacobian matrix;

D O I：

10.1177/0278364902021009842

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：811 / 824

页数：14

共 15 条

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