平面3自由度パラレルマニピュレータの等条件軌跡
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
平面3自由度パラレルマニピュレータの特異姿勢と等方姿勢を解析し、ヤコビ行列の等条件軌跡から作業モードを比較する大域的指標を提案した。
著者: Damien Chablat, Stéphane Caro, Philippe Wenger, Jorge Angeles
分類: cs.RO
原文アブストラクト
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. 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. The singular configurations of these matrices are studied. The isotropic configurations are then studied based on the characteristic length of this manipulator. The isoconditioning loci of all Jacobian matrices are computed to define a global performance index to compare the different working modes.
