Title :
A comparison study of two 3-DOF parallel manipulators: one with three and the other with four supporting legs
Author :
Joshi, Sameer ; Tsai, Lung-wen
Author_Institution :
Inst. for Syst. Res., Maryland Univ., College Park, MD, USA
Abstract :
This paper presents a comparison study of the well-conditioned workspace and stiffness properties of two 3 degree-of-freedom (DOF) parallel manipulators, one with three supporting limbs and the other with four supporting limbs. The inverse kinematics and Jacobian of these two mechanisms are analyzed. The well-conditioned workspace of each mechanism is maximized and the stiffness properties are determined. A comparison of the results indicates that the Tricept manipulator out performs the 3-UPU parallel manipulator.
Keywords :
Jacobian matrices; manipulator kinematics; optimisation; position control; Jacobian matrix; Tricept manipulator; inverse kinematics; parallel manipulators; position control; stiffness; supporting legs; workspace optimization; Actuators; Jacobian matrices; Kinematics; Leg; Machine tools; Machining; Manipulators; Mechanical factors; Milling machines; Research and development;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014283
