DocumentCode
1173670
Title
A comparison study of two 3-DOF parallel manipulators: one with three and the other with four supporting legs
Author
Joshi, Sameer ; Tsai, Lung-wen
Author_Institution
Inst. for Syst. Res., Univ. of Maryland, College Park, MD, USA
Volume
19
Issue
2
fYear
2003
fDate
4/1/2003 12:00:00 AM
Firstpage
200
Lastpage
209
Abstract
This paper presents a comparison study of the well-conditioned workspace and stiffness properties of two 3-degree-of-freedom (DOF) parallel manipulators, one with three supporting limbs and the other with four supporting limbs. The inverse kinematics and Jacobian of these two mechanisms are analyzed. The well-conditioned workspace of each mechanism is maximized and the stiffness properties are determined. A comparison of the results indicates that the Tricept manipulator out performs the 3-UPU parallel manipulator.
Keywords
Jacobian matrices; manipulator kinematics; 3-DOF parallel manipulators; Jacobian matrices; Tricept manipulator; stiffness properties; supporting legs; supporting limbs; wellconditioned workspace; Actuators; Jacobian matrices; Kinematics; Leg; Machine tools; Machining; Manipulators; Mechanical factors; Research and development; Wrist;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/TRA.2003.808857
Filename
1192149
Link To Document