A comparison study of two 3-DOF parallel manipulators: One with three and the other with four supporting legs

被引：63

作者：

Joshi, S ^{[1
]}

Tsai, LW

机构：

[1] Univ Maryland, Syst Res Inst, College Pk, MD 20742 USA

[2] Univ Calif Riverside, Bourns Coll Engn, Dept Engn Mech, Riverside, CA 92521 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 02期

关键词：

comparison study; Jacobian analysis; kinematics; stiffness mapping; workspace optimization;

D O I：

10.1109/TRA.2003.808857

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a comparison study of the well-conditioned workspace and stiffness properties of two 3-degree-of-freedom (DOF) parallel manipulators, one with three supporting limbs and the other with four supporting limbs. The inverse kinematics and Jacobian of these two mechanisms are analyzed. The well-conditioned workspace of each mechanism is maximized and the stiffness properties are determined. A comparison of the results indicates that the Tricept manipulator out performs the 3-UPU parallel manipulator.

引用

页码：200 / 209

页数：10

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