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The Design of Isotropic Planar and Spherical Parallel Manipulators

Kinematic accuracy is an important topic of robotics research. It is seriously affected by the conditioning of the associated Jacobian matrices which, if optimal, are called isotropic. Manipulator designs with isotropic poses within their workspace exhibit good servo accuracy and singularity robustness. Using this as a design criterion, multi-dimensional continua, which define the complete set of isotropic designs for several parallel manipulators, have been found. All such designs provide a substantial domain of accuracy to fit many situations, thus allowing the designer to incorporate other design criteria, e. g., workspace volume.
H.R. Mohammadi Daniali, P. Zsombor-Murray, J. Angeles

Thierry Baron
Mon Nov 13 10:43:02 EST 1995