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A new method for isotropic analysis of limited DOF parallel manipulators with terminal constraints

Published online by Cambridge University Press:  13 August 2010

Haibo Qu ,
Yuefa Fang  and
Sheng Guo
Haibo Qu*
Affiliation:
Robotics Research Laboratory, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
Yuefa Fang
Affiliation:
Robotics Research Laboratory, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
Sheng Guo
Affiliation:
Robotics Research Laboratory, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
*
*Corresponding author. E-mail: [email protected]
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Summary

Based on the terminal constraints system (TCS) and reciprocal screw theory, a novel method is presented to determine the isotropic configurations of limited degree-of-freedom (DOF) parallel manipulators. From the available physical meaning of isotropy, the criteria to determine the isotropic configurations can be transformed to investigate whether the TCS acting on the moving platform works equally well in all directions. From the TCS study, the simplest form of constraints system matrix can be obtained. Then the constraint condition number is defined to measure the isotropy of spatial parallel manipulator based on the TCS. This method not only avoids solving the Jacobian matrix for some complex structural parallel manipulators but also points out the physical meaning of isotropy, which indicates that the TCS acting on the moving platform works equally well in all directions. Three examples are employed to illustrate this method.

Keywords

Isotropic configurationsLimited DOF parallel manipulatorTerminal constraints systemConstraint condition numberReciprocal screw theory
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 563 - 569
Copyright
Copyright © Cambridge University Press 2010

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