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
fDate :
4/1/2003 12:00:00 AM
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;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.808857
