Abstract
Dexterity is considered as an important factor in the design of all robotic manipulators, whether serial or parallel. If the focus is on kinematics, rather than dynamics, one can quantify this factor using the condition number of the Jacobian matrix. In this paper, we study the optimum kinematic design of general six-degree-of-freedom (6-DOF) parallel manipulators, through the minimization of the condition number of their Jacobian matrices. Moreover, an isotropic architecture is shown to exist and an example of the isotropic design is included for illustration.
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© 1995 Springer Science+Business Media Dordrecht
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Zanganeh, K.E., Angeles, J. (1995). On the Isotropic Design of General Six-Degree-of-Freedom Parallel Manipulators. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_22
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DOI: https://doi.org/10.1007/978-94-011-0333-6_22
Publisher Name: Springer, Dordrecht
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