Fully-isotropic parallel manipulators with five degrees of freedom

被引：7
|
作者：
Gogu, Grigore [1 ]
机构：
[1] French Inst Adv Mech, Mech Engn Res Grp, Aubiere, France
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
parallel manipulators; five degrees of freedom; fully-isotropic;
D O I：
10.1109/ROBOT.2006.1641863
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents fully-isotropic parallel manipulators (PMs) with five degrees of freedom T3R2-type. The mobile platform has three independent translations (T3) and two rotations (R2). A method is proposed for structural synthesis of fully-isotropic T3R2-type PMs based on the theory of linear transformations. A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of fully-isotropic T3R2-qpe PMs presented in this paper is the identity 5x5 matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. As far as we are aware, this paper presents for the first time in the literature solutions of fully-isotropic PMs with five degrees of freedom.
引用
收藏
页码：1141 / 1146
页数：6
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