Sciweavers

Share
ICRA
1998
IEEE

The Isoconditioning Loci of A Class of Closed-Chain Manipulators

9 years 3 months ago
The Isoconditioning Loci of A Class of Closed-Chain Manipulators
The subject of this paper is a special class of closedchain manipulators. First, we analyze a family of twodegree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. It is shown that the loci of points of the workspace where the condition number of the direct-kinematics matrix remains constant, i.e., the isoconditioning loci, are the coupler points of the four-bar linkage obtained upon locking the middle joint of the linkage. Furthermore, if the line of centers of the two actuated revolutes is used as the axis of a third actuated revolute, then a three-dof hybrid manipulator is obtained. The isoconditioning loci of this manipulator are surfaces of revolution generated by the isoconditioning curves of the two-dof manipulator, whose axis of symmetry is that of the third actuated revol...
Damien Chablat, Philippe Wenger, Jorge Angeles
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1998
Where ICRA
Authors Damien Chablat, Philippe Wenger, Jorge Angeles
Comments (0)
books