Title :
Optimum design of manipulators under dynamic isotropy conditions
Author :
Ma, Ou ; Angeles, Jorge
Author_Institution :
Spar Aerospace Ltd., Brampton, Ont., Canada
Abstract :
The optimum design of manipulator architectures under dynamic isotropy conditions is addressed. The goal of the design is to choose the kinematic and inertial parameters of manipulators such that their generalized inertia matrices can attain values as close to isotropy as possible. Two design examples are given. One pertains to a three-degree-of-freedom serial manipulator, and the other to a platform parallel manipulator
Keywords :
control system synthesis; dynamics; kinematics; manipulators; architectures; dynamic isotropy conditions; inertial parameters; kinematic; manipulators; optimum design; robots; Acceleration; Aerodynamics; Aerospace engineering; Airports; Ellipsoids; Equations; Gravity; Kinematics; Kinetic energy; Manipulator dynamics;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292024
