Review article: Performance measures of parallel kinematics manipulators
نویسندگان
چکیده
منابع مشابه
Kinematic Performance Measures and Optimization of Parallel Kinematics Manipulators: A Brief Review
This chapter covers a number of kinematic performance indices that are instrumental in designing parallel kinematics manipulators. These indices can be used selectively based on manipulator requirements and functionality. This would provide the very practical tool for designers to approach their needs in a very comprehensive fashion. Nevertheless, most applications require a more composite set ...
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Three types of double-triangular mechanism are introduced. These contain planar, spherical or spatial triangle pairs that move with respect to each other while remaining in line contact. Using planar, spherical and spatial trigonometry, the three pertinent direct kinematic problems are solved and typical numerical examples are presented.
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As any mechanism ages it will undergo structural change. In an autonomous system that operates outside of the lab it is vital that these changes be detected and compensated for. If uncompensated changes are drastic enough the basic motion model will need to be relearned. Most adaptive algorithms require complete relearning when part of the system changes and/or assume only small variations and ...
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The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus...
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Instantaneous kinematics and singularity analysis of a class of three-legged, 6-DOF parallel manipulators are addressed in this paper. A generic method of derivation of reciprocal screw and consequently, the instantaneous kinematics model is presented. The advantage of this formulation is that the instantaneous kinematics model possesses well-defined geometric meaning and algebraic structure. S...
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ژورنال
عنوان ژورنال: Mechanical Sciences
سال: 2020
ISSN: 2191-916X
DOI: 10.5194/ms-11-49-2020