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 separ...

Full description

Saved in:
Bibliographic Details
Published in:The International journal of robotics research 2002-09, Vol.21 (9), p.811-824
Main Authors: Fattah, A., Hasan Ghasemi, A.M.
Format: Article
Language:English
Subjects:
Design
Robots
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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 both manipulators, the variation of the kinematic condition index is studied with respect to the motion of the moving platform to show how far the manipulator is from being isotropic. Finally, the isotropic conditions are obtained numerically for both manipulators.
ISSN:0278-3649
1741-3176
DOI:10.1177/0278364902021009842