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The Design of Isotropic Planar and Spherical Parallel Manipulators

Authors: [tex2html_wrap4308]H. R. Mohammadi Daniali, P. J. Zsombor-Murray, J. Angeles

Investigator username: paul

Category: robotics

Subcategory: modelling and simulation

An important feature of robotic manipulators is kinematic accuracy, an item that has attracted the attention of researchers for many years. Accuracy has been shown to be directly affected by the numerical conditioning of the associated Jacobian matrices. Manipulators with the best conditioned Jacobian matrices are called isotropic. Manipulator designs with isotropic architectures have a number of advantages, including good servo accuracy and singularity robustness. Using kinematic isotropy as a design criterion, we found multi-dimensional manifolds of isotropic designs for several parallel manipulators. These manifolds are the complete set of isotropic designs for the manipulators. All of these manipulators provide a substantial domain of accurate designs to fit many situations, which should allow the designer the freedom to incorporate design criteria besides isotropy, e. g., workspace volume.


baron@cim.mcgill.ca