New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators
New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators
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DOI：
10.1109/tra.2003.814496
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发表时间：
2003-08-01
期刊：
影响因子：
--
通讯作者：
Ryu, J
中科院分区：
文献类型：
--
作者：
Kim, SG;Ryu, J
并联机器人的优化设计方法的发展是重要的，在获得最佳的结构或最佳的动静性能的位姿。传统的雅可比矩阵是由非齐次物理单元组成的，其条件数等性能指标的使用可能缺乏物理意义。为了避免传统雅可比矩阵中单位不一致的问题，利用与移动的平台关节共面的三个末端执行器点，提出了平面移动的平台并联机器人维度齐次雅可比矩阵的新公式。然后，新的雅可比矩阵的条件数被用来设计一个最佳的架构或并联机器人的最佳灵巧性的姿势。一个说明性的设计实例与六自由度的Gough-Stewart平台并联机器人通过使用所提出的配方，以产生相同的最佳配置，从使用其他现有的尺寸均匀雅可比制定方法。
Development of optimal design methods for parallel manipulators is important in obtaining an optimal architecture or pose for the best kinetostatic performance. The use of performance indexes such as the condition number of the conventional Jacobian matrix that is composed of nonhomogeneous physical units, however, may lack in physical significance. In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, we present a new formulation of a dimensionally homogeneous Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points that are coplanar with the mobile platform joints. The condition number of the new Jacobian matrix is then used to design an optimal architecture or pose of parallel manipulators for the best dexterity. An illustrative design example with a six-degree-of-freedom Gough-Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configurations as those from using the other existing dimensionally homogenous Jacobian formulation methods.