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Analysis on the Processing Dexterity of Parallel Robot Based on MATLAB

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

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Abstract

This paper takes a 3-UPS Parallel Robot as the objective of research. First, according to the inverse kinematics equation of Robot obtains the inverse matrix of Jacobian matrix, thereby, acquires the condition number of Jacobian matrix. Then, takes the condition number of Jacobian matrix as measurable index to conduct computer simulation analysis on the processing dexterity of Robot based on MATLAB, therefore, obtains its distribution characteristics within the workspace. The result shows that the Parallel Robot is in a very good processing dexterity. The conclusions based on the analysis have an important theoretical significance to the structural design, workspace design, inspection and kinematical simulation of the Parallel Robot.

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Author information

Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Shenyang Institute of Aeronautical Engineering, 110136, Shenyang, Liaoning, China

    Jianye Guo

  2. School of Mechanical Engineering and Automation, Northeastern University, 110004, Shenyang, Liaoning, China

    Jianye Guo, Yongxian Liu, Jiashun Shi & Guangqi Cai

Authors
  1. Jianye Guo
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  2. Yongxian Liu
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  3. Jiashun Shi
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  4. Guangqi Cai
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Guo, J., Liu, Y., Shi, J., Cai, G. (2008). Analysis on the Processing Dexterity of Parallel Robot Based on MATLAB. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_23

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_23

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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