Study on Force Transmission Performance for Planar Parallel Manipulator

Author

Shang, Weiwei ; Cong, Shuang

Author_Institution

Dept. of Autom., China Univ. of Sci. & Technol., Hefei

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8098

Lastpage

8102

Abstract

The optimal kinematics configuration of planar parallel manipulator is presented using analysis of the relation between inverse kinematics and force transmission. First, direct kinematics and inverse kinematics of the 2-dof redundantly actuated planar parallel manipulator are solved, and eight configurations of the eight inverse kinematics solutions are gained. Then, workspace on the x-y plane of the manipulator is confirmed. Finally, based on the reciprocal of the Jacobian matrix index, plots of the force transmission performance on the efficient workspace of the eight kinematics configurations are calculated, and the two equivalent optimal kinematics configuration are pointed out at the same time

Keywords

Jacobian matrices; redundant manipulators; 2-dof redundantly actuated planar parallel manipulator; Jacobian matrix index; force transmission performance; inverse kinematics; optimal manipulator kinematics configuration; Automation; Bismuth; Intelligent control; Jacobian matrices; Kinematics; force transmission performance; kinematics; kinematics configuration; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713551

Filename

1713551