Title :
Performance Analysis for 3 - RR(RR)R Parallel Mechanism Based on Hessian Matrix
Author :
Li, H.B. ; Liu, S. ; Guo, X.J. ; Liu, B.
Author_Institution :
Inst. of Electr. Eng., Yanshan Univ.
Abstract :
In this paper, the velocity and inertial force 3-RlowbarRlowbar(lowbarRlowbarRmacr)macrRmacr performance of a new parallel mechanism are analyzed by global conditioning index which includes Jacobian matrix and Hessian matrix, and this index is different from the old one which only includes Jacobian matrix. The performance atlas are given, and the mechanism´s parameters can be easily selected which are proper to improve the mechanism´s performance. The conclusion presented in this paper provides underlying theoretical grounds for the optimum design of the 3RlowbarRlowbar(lowbarRlowbarRmacr)macrRmacr mechanism
Keywords :
Hessian matrices; Jacobian matrices; performance index; robot dynamics; 3-RlowbarRlowbar(lowbarRlowbarRmacr)macrRmacr parallel mechanism Hessian matrix; Jacobian matrix; global conditioning index; performance analysis; performance atlas; velocity; Design optimization; Jacobian matrices; Joining processes; Performance analysis; Robots; Shape;
Conference_Titel :
Mechatronic and Embedded Systems and Applications, Proceedings of the 2nd IEEE/ASME International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-9721-5
DOI :
10.1109/MESA.2006.296941
