Title :
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
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;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713551
