Quantitative dexterous workspace comparison of parallel manipulators
Quantitative dexterous workspace comparison of parallel manipulators
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DOI：
10.1016/j.mechmachtheory.2006.10.004
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发表时间：
2007-10
影响因子：
5.2
通讯作者：
Geoffrey T. Pond;J. A. Carretero
中科院分区：
文献类型：
--
作者：
Geoffrey T. Pond;J. A. Carretero
利用一种新的雅可比矩阵的建立方法，首次对空间复杂自由度并联机器人的灵巧度进行了定量比较。本研究中的机械手为三自由度机械手，包括3-PRS、3-RPS和Tricept。通过使用一种新的方法，制定平方维均匀雅可比矩阵的比较，并一致的选择独立的末端执行器的速度。然后可以直接比较对应于每个操纵器的雅可比矩阵的条件数和奇异值。工作的目的是说明所提出的方法在确定最佳架构的基础上预定义的操作特性的应用。
Using a novel method for the formulation of Jacobian matrices, this paper quantitatively compares the dexterity of spatial complex degree of freedom parallel manipulators for the first time. The manipulators included in this study are three-degree-of-freedom manipulators including the 3-PRS, 3-RPS, and Tricept. The comparison is made possible through the use of a novel method of formulating square dimensionally homogeneous Jacobian matrices, and a consistent choice of independent end effector velocities. The condition number and singular values of the Jacobians corresponding to each manipulator may then be directly compared. The objective of the work is to illustrate the application of the proposed method in determining the optimal architecture based on predefined operating characteristics.