Planar parallel manipulators: Structure based selection from the viewpoint of workspace

被引：0
|
作者：
Srinath, A [1 ]
Rao, AC [1 ]
机构：
[1] QIS Coll Engn & Technol, Dept Mech Engn, Ongole 523272, India
来源：
INDIAN JOURNAL OF ENGINEERING AND MATERIALS SCIENCES | 2005年 / 12卷 / 02期
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中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
It is known that serial manipulators generate greater workspace. Recent trend is tot use planar parallel manipulators where heavy loads are to be handled. There are a large number of planar parallel structures available with the same number of links and degree of freedom (d.o.f.). However, there is no quantitative measure to estimate the parallelism present in a chain. Mathematical measures are proposed to estimate parallelism that exists in a chain. since it influences the rigidity and workspace. Also, formulae are suggested to get insight of the workspace generated, i.e., well conditioned or not.
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页码：104 / 110
页数：7
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