Title :
Workspace analysis of a 3-DOF parallel mechanism
Author :
Carretero, J.A. ; Nahon, M. ; Podhorodeski, R.P.
Author_Institution :
Dept. of Mech. Eng., Victoria Univ., BC, Canada
Abstract :
A variety of definitions of the workspace of a mechanism can be found in the literature. In this paper, the dexterous workspace is defined as a subspace of the reachable workspace having an adequate performance of a dexterity measure, e.g. the condition number of the Jacobian matrix. The dexterous workspace of a 3-DOF parallel mechanism is analyzed. In order to study the changes of the workspace volume as the architectural parameters are changed, several plots of the dexterous workspace are presented. The shape, size and symmetry of the workspace is found to be very dependent on the particular set of architectural parameters chosen for the mechanism
Keywords :
Jacobian matrices; dexterous manipulators; manipulator kinematics; symmetry; 3-DOF parallel mechanism; condition number; dexterity measure; dexterous workspace; reachable workspace; workspace analysis; Actuators; Costs; Jacobian matrices; Kinematics; Leg; Mechanical engineering; Mirrors; Payloads; Shape; Telescopes;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727433
