The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
Robotics
2007-08-30 v1
Abstract
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first 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 index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.
Keywords
Cite
@article{arxiv.0708.3896,
title = {The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators},
author = {Damien Chablat and Philippe Wenger and Stéphane Caro and Jorge Angeles},
journal= {arXiv preprint arXiv:0708.3896},
year = {2007}
}
Comments
ASME 29th Design Automation Conference