Geometric Isotropy Indices for Workspace Analysis of Spatial Parallel Manipulators

被引：0
|
作者：
Xiong, Hao [1 ]
Diao, Xiumin [1 ]
机构：
[1] Purdue Univ, Sch Engn Technol, W Lafayette, IN 47907 USA
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017) | 2017年
关键词：
parallel manipulator; workspace analysis; geometric isotropy; isotropy analysis; KINEMATIC DESIGN; OPTIMUM DESIGN; HAPTIC DEVICE;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Workspace geometric isotropy analysis is crucial for many applications. It is highly desirable if the workspace of a parallel manipulator is perfectly isotropic. This paper proposes three novel workspace isotropy indices, namely, translational workspace isotropy index, rotational workspace isotropy index, and entire workspace isotropy index, for workspace isotropy analysis of spatial parallel manipulators in terms of the geometric shape of the workspace. All three indices are mathematically defined. The effectiveness of the proposed indices is verified by experiment using random external rotational disturbances. The proposed indices are good indicators of the robustness of a parallel manipulator to external rotational disturbances and can be used as a guideline for optimal design of spatial parallel manipulators.
引用
收藏
页码：1985 / 1990
页数：6
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