Title :
Maximum velocity analysis of parallel manipulators
Author :
Huynh, Patrick ; Arai, Tatsuo
Author_Institution :
Dept. of Robotics, Autonomous Machinery Div., Ibaraki, Japan
Abstract :
In order to analyse the maximum velocity of parallel manipulators in operational space, a graphical method based on the analysis of the algebraic inequalities describing the constraints on the kinematics model is presented. We consider a general 6 d.o.f parallel manipulator and assume that all articular velocities are bounded by the same limit. The method is then applied to the conventional Stewart platform chosen as a reference and a new parallel manipulator for their performance comparisons. For these two parallel manipulators, respective formula of Jacobian matrix is also given
Keywords :
Jacobian matrices; manipulator kinematics; 6-DOF parallel manipulator; Jacobian matrix; Stewart platform; algebraic inequalities; articular velocity bounds; graphical method; kinematics model constraints; maximum velocity analysis; parallel manipulators; Electronic mail; Equations; Jacobian matrices; Kinematics; Laboratories; Machinery; Manipulators; Mechanical engineering; Orbital robotics; Parallel robots;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606787
