Workspace analysis of a 3-DOF parallel mechanism

Workspace analysis of a 3-DOF parallel mechanism

A variety of definitions of the workspace of a mechanism can be found in the literature. In this paper, the dexterous workspace is defined as a subspace of the reachable workspace having an adequate performance of a dexterity measure, e.g. the condition number of the Jacobian matrix. The dexterous w...

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Bibliographische Detailangaben
Hauptverfasser: Carretero, J.A., Nahon, M., Podhorodeski, R.P.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Costs
Jacobian matrices
Kinematics
Leg
Mechanical engineering
Mirrors
Payloads
Shape
Telescopes
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Beschreibung
Zusammenfassung:A variety of definitions of the workspace of a mechanism can be found in the literature. In this paper, the dexterous workspace is defined as a subspace of the reachable workspace having an adequate performance of a dexterity measure, e.g. the condition number of the Jacobian matrix. The dexterous workspace of a 3-DOF parallel mechanism is analyzed. In order to study the changes of the workspace volume as the architectural parameters are changed, several plots of the dexterous workspace are presented. The shape, size and symmetry of the workspace is found to be very dependent on the particular set of architectural parameters chosen for the mechanism.
DOI:10.1109/IROS.1998.727433