Title :
The global conditioning index in the solution space of two degree of freedom planar parallel manipulators
Author :
Gao, Feng ; Liu, Xinjun ; Gruver, William A.
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
This research utilizes a physical model of the solution space to investigate the relationship between the global conditioning index of Gosseling and Angeles (1991) and the link lengths of two degree of freedom parallel link, planar, robotic manipulators. Equations for the global conditioning index are derived and are used to compute contours in the workspace. Because they describe global behavior, the results are useful for the analysis and design of planar parallel manipulators
Keywords :
manipulators; 2-DOF parallel-link planar robotic manipulators; global conditioning index; solution space; Equations; Jacobian matrices; Kinematics; Manipulators; Mechanical factors; Orbital robotics; Parallel robots; Performance analysis; Roentgenium;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538425
