THE ISOCONDITIONING LOCI OF PLANAR THREE-DOF PARALLEL MANIPULATORS

机译：平面三自由度并联机械手的等温局部

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This paper deals with a special class of three-degree-of-freedom parallel manipulators. First, the singular configurations of the two Jacobian matrices are studied. The isotropic configurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The resulting index is compared with the Cartesian workspace surface and the average of the condition number.

机译：本文涉及一类特殊的三自由度并联机械手。首先，研究了两个雅可比矩阵的奇异配置。然后根据该操纵器的特征长度找到各向同性配置。绘制雅可比矩阵的等值基因座以定义全局性能指数，从而可以比较不同的工作模式。将所得索引与笛卡尔工作空间表面和条件数的平均值进行比较。

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来源
《4th International Conference on Integrated Design and Manufacturing in Mechanical Engineering - IDMME 2002 May 14-16, 2002 Clermont-Ferrand, France》|2002年|p.129-138|共10页
会议地点 France(FR);France(FR)
作者
S. Caro; D. Chablat; P. Wenger; J. Angeles;
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作者单位

IRCCyN, Ecole Centrale de Nantes, France;

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会议组织
原文格式 PDF
正文语种 eng
中图分类机械、仪表工业;
关键词
parallel manipulator; optimum design; isoconditioning loci; characteristic length;

机译：并联机械手;优化设计;等距轨迹;特征长度;

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1. Singularity loci of planar parallel manipulators with revolute actuators [J] . Clement M.Gosselin, jiegao Wang Robotics and Autonomous Systems . 1997,第4期

机译：带有旋转致动器的平面并联机械手的奇异位点
2. Design and Fabrication of a Planar Three-DOFs MEMS-Based Manipulator [J] . de Jong B. R.Brouwer D. M.de Boer M. J.Jansen H. V.Soemers H. M. J. R.Krijnen G. J. M. Microelectromechanical Systems, Journal of . 2010,第5期

机译：平面三自由度MEMS机械臂的设计与制造
3. Intelligent control of a three-DOF planar underactuated manipulator [J] . Sam Chau Duong, Hiroshi Kinjo, Eiho Uezato, Artificial life and robotics . 2009,第2期

机译：三自由度平面欠驱动机械手的智能控制
4. THE ISOCONDITIONING LOCI OF PLANAR THREE-DOF PARALLEL MANIPULATORS [C] . S. Caro, D. Chablat, P. Wenger, International conference on integrated design and manufacturing in mechanical engineering . 2003

机译：平面三自由度平行机械手的Isoconding inci
5. Design and Control of a Planar Cable Suspended Parallel Manipulator [D] . Montgomery, Forrest. 2017

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6. Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator [O] . Samer Yahya, Mahmoud Moghavvemi, Haider Abbas F. Almurib 2012

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7. THE ISOCONDITIONING LOCI OF PLANAR THREE-DOF PARALLEL MANIPULATORS [O] . D. Chablat, Ph. Wenger, S. Caro 2012

机译：平面三自由度并联机械手的等温局部

THE ISOCONDITIONING LOCI OF PLANAR THREE-DOF PARALLEL MANIPULATORS

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