The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic con-figurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.
- Design Engineering Division and Computers and Information in Engineering Division
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
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Chablat, D, Wenger, P, Caro, S, & Angeles, J. "The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators." Proceedings of the ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5: 27th Biennial Mechanisms and Robotics Conference. Montreal, Quebec, Canada. September 29–October 2, 2002. pp. 601-606. ASME. https://doi.org/10.1115/DETC2002/MECH-34268
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