DocumentCode
1884500
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., Maryland Univ., College Park, MD, USA
Volume
4
fYear
2002
fDate
2002
Firstpage
3690
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; optimisation; position control; Jacobian matrix; Tricept manipulator; inverse kinematics; parallel manipulators; position control; stiffness; supporting legs; workspace optimization; Actuators; Jacobian matrices; Kinematics; Leg; Machine tools; Machining; Manipulators; Mechanical factors; Milling machines; Research and development;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014283
Filename
1014283
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