Isotropic Design of Tendon-Driven Manipulators
نویسندگان
چکیده
منابع مشابه
Isotropic Design of Spatial Parallel Manipulators
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 bot...
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1 Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran. 2 School of Engineering Emerging Technologies, Mechatronics Laboratory, University of Tabriz, Tabriz, Iran. Corresponding author Email: [email protected] Abstract: In the design of parallel manipulators, usually mean value of a dexterity measure over the workspace volume is considered as the objective function to be...
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ژورنال
عنوان ژورنال: Journal of Mechanical Design
سال: 1996
ISSN: 1050-0472,1528-9001
DOI: 10.1115/1.2826893