Analysis on the processing dexterity of 3-UPS Parallel Robot

Author

Guo, Jianye ; Liu, Yongxian ; Shi, Jiashun ; Cai, Guangqi

Author_Institution

Sch. of Mech. & Electr. Eng., Shenyang Inst. of Aeronaut. Eng., Shenyang

fYear

2008

fDate

1-3 Sept. 2008

Firstpage

2476

Lastpage

2480

Abstract

In this paper, one kind of 3-UPS parallel robot is researched. At first, the inverse matrix of Jacobian is obtained according to the inverse kinematics equation of parallel robot, and then the condition number of Jacobian matrix is acquired. Then, it takes the condition number of Jacobian matrix as measurable index to analyze the processing dexterity of robot based on MATLAB. Therefore, the distribution feature of processing dexterity is obtained in the workspace of robot. The result shows that the processing dexterity of this parallel robot is very good. The conclusions of the analysis have the great theoretical significance to the structural design, the design and inspection of practical workspace and the kinematical simulation of the parallel robot.

Keywords

Jacobian matrices; dexterous manipulators; manipulator kinematics; matrix inversion; 3-UPS parallel robot; Jacobian matrix; MATLAB; inverse kinematics equation; inverse matrix; kinematical simulation; processing dexterity; Aerospace engineering; Equations; Jacobian matrices; Logistics; Magnetic heads; Mechanical engineering; Milling; Parallel robots; Robot kinematics; Robotics and automation; Condition number; Jacobian matrix; Parallel Robot; Processing dexterity;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on

Conference_Location

Qingdao

Print_ISBN

978-1-4244-2502-0

Electronic_ISBN

978-1-4244-2503-7

Type

conf

DOI

10.1109/ICAL.2008.4636584

Filename

4636584