Dynamic Performance Indices for 3-DOF Parallel Manipulators
This paper presents three new indices for the characterization of the dynamic behavior of 3-dof parallel manipulators. The first index measures the dynamic isotropy of the manipulator, whereas the second and the third indices measure the manipulator swiftness, that is the manipulator capability to produce end-effector acceleration. They allow dynamic behavior of different manipulators to be compared. The indices can be easily expressed as functions of both the parameters locating the end-effector pose and the inertial and the geometric parameters of the links Moreover, based on their properties, a simple design procedure to size a three-dof manipulator so that it fulfills given dynamic requirements is presented.
Keywords3-dof parallel manipulators dynamic isotropy index acceleration index
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