Consistent Kinetostatic Indices for Planar 3-DOF Parallel Manipulators, Application to the Optimal Kinematic Inversion

Alba-Gomez, Ofelia; Wenger, Philippe; Pamanes, Alfonso

doi:10.1115/detc2005-84326

Cited by 33 publications

(30 citation statements)

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“…The singular values of this Jacobian are dimensionless also. The characteristic length is derived such that it minimizes the singular values of the normalized Jacobian ( [49], [52], [53]). The characteristic length that produces the best performance measure was called the 'Natural Length' [54].…”

Section: 2mentioning

confidence: 99%

Manipulator Performance Measures - A Comprehensive Literature Survey

Patel

Sobh

2014

J Intell Robot Syst

227

121

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Abstract:Performance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.Response to Reviewers: Authors' response to the reviewers' comments is attached as .PDF files Powered by Editorial Manager® and ProduXion Manager® from Aries Systems CorporationManipulator Performance Measures The total number of words of the manuscript, including entire text from title page to figure legends: 12840The number of words of the abstract: 125The number of figures: 7The number of tables: 0 AbstractPerformance measures are quintessential to the design, synthesis, study and application of robotic manipulators. Numerous performance measures have been defined to study the performance and behavior of manipulators since the early days of robotics; some more widely accepted than others, but their real significance and limitations have not always been well understood. The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures. This work provides an extensive bibliography that can be of help to researchers interested in studying and evaluating the performance and behavior of robotic manipulators. Finally, a few recommendations are proposed based on the review so that the most commonly noticed limitations can be avoided when new performance measures are proposed.

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Section: 2mentioning

confidence: 99%

Manipulator Performance Measures - A Comprehensive Literature Survey

Patel

Sobh

2014

J Intell Robot Syst

227

121

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“…The study of Sutherland and Roth [18] was generalized for any spatial single-loop mechanism in the recent study Chen and Angeles [21]. Alba-Gomez et al [22] have evaluated the quality of motion in the three degrees of freedom manipulators by means of a kinetostatic indicator, which is similar to the pressure angle. Among several works may be distinguished also the study of Lee et al [23].…”

Section: Introductionmentioning

confidence: 99%

Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure

Arakelian

Briot

Glazunov

2008

Mechanism and Machine Theory

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This paper is focused on the study of singularity of planar parallel manipulators taking into account the force transmission, i.e. study of singularity of planar manipulator by introducing the force transmission factor. Thus the singularity zones in the workspace of the manipulator are defined not only by kinematic criterions from the theoretical perfect model of the manipulator but also by the quality of force transmission. For this purpose, the pressure angle is used as an indicator of force transmission. The optimal control of the pressure angle for a given trajectory of the manipulator is realized by means of legs with variable structure. The suggested procedure to determination of the optimal structure of the planar parallel manipulator 3-RPR is illustrated by two numerical simulations.

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“…l is obtained in such a way that l 1i and l 2i , i = 1, 2, 3, are identical and to have the same workspace size for the 3-RRR and the 3-RRR PPMs [17]. Moreover, we can determine an isotropic configuration for each 3-RRR.…”

Section: Geometric Parameters Normalizationmentioning

confidence: 99%

“…However, it is easier for planar manipulators as their singularities have a simple geometric interpretation [20,21]. The RW of a manipulator is a regular-shaped part of its workspace with good and homogeneous kinetostatic performance.…”

Section: Regular Workpacementioning

confidence: 99%

Sensitivity comparison of planar parallel manipulators

Binaud¹,

Caro²,

Wenger³

2010

Mechanism and Machine Theory

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This paper deals with the sensitivity comparison of three Degree-of-Freedom planar parallel manipulators. First, a methodology is described to obtain the sensitivity coefficients of the pose of the moving platform of the manipulators to variations in their geometric parameters and actuated variables. Their sensitivity coefficients are derived and expressed algebraically for a matter of analysis simplicity. Moreover, two aggregate sensitivity indices are determined, the first one is related to the orientation of the moving platform of the manipulator and the other one to its position. Then, a methodology is proposed to compare PPMs with regard to their workspace size and sensitivity. Finally, 3-RPR, 3-RPR, 3-RRR, 3-RRR and 3-PRR PPMs are compared in order to highlight the contributions of the paper.

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Consistent Kinetostatic Indices for Planar 3-DOF Parallel Manipulators, Application to the Optimal Kinematic Inversion

Cited by 33 publications

References 0 publications

Manipulator Performance Measures - A Comprehensive Literature Survey

Manipulator Performance Measures - A Comprehensive Literature Survey

Increase of singularity-free zones in the workspace of parallel manipulators using mechanisms of variable structure

Sensitivity comparison of planar parallel manipulators

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