Title :
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
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;
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
DOI :
10.1109/ICAL.2008.4636584
