طراحي بازوهاي مكانيكي ربات هاي صفحه يي با مفاصل چرخشي بر مبناي معيار شبه همسانگردي

DESIGN OF PLANAR ROBOTIC MANIPULATORS WITH REVOLUTE JOINTS BASED ON THE PSEUDO-ISOTROPY CRITERION

In this paper, the design method of planar redundant robot manipulators is described in such a way that the similar potential motion of the wrist in all directions is achieved. At first glance, the isotropic design seems useful, but the method suffers from a deficiency, namely, the use of an euclidian norm in the joint rate space. By assigning a proper norm to the joint rate space, using the theorem of topological equivalence of all norms in finite dimensional spaces and by introducing some new quantities, the pseudo-isotropy criterion is presented. The results show the superiority of the redundant manipulators with odd degrees of freedom relative to those with even degrees of freedom.