The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

Details The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

2007-08-29

arxiv.org/abs/0708.3896v1

Dans 29th Design Automation Conference - ASME 29th Design Automation Conference, France (2002)

Computer Science

Robotics

ASME 29th Design Automation Conference

Scientific paper

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.

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