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A new isotropic and decoupled 6-DoF parallel manipulator
- Source :
-
Mechanism & Machine Theory . Dec2012, Vol. 58, p64-81. 18p. - Publication Year :
- 2012
-
Abstract
- Abstract: The paper discusses the concepts of isotropy and decoupling in n-DoF (degrees of freedom) manipulators: isotropy means that its kinetostatic properties are identical in all directions, while decoupling means that each DoF of the end effector is controlled by a single actuator. The role of different Jacobian matrices in the isotropy, decoupling and in the general mobility analysis of the manipulators is revised. These concepts are applied to a Gough–Stewart platform showing that it may be isotropic, but not decoupled. A modification of its leg structure is suggested to develop some new 6-DoF PKMs (parallel kinematic machine) decoupled and isotropic in the considered configuration. An introduction to the mobility analysis of serial and parallel manipulators is also presented. [Copyright &y& Elsevier]
Details
- Language :
- English
- ISSN :
- 0094114X
- Volume :
- 58
- Database :
- Academic Search Index
- Journal :
- Mechanism & Machine Theory
- Publication Type :
- Academic Journal
- Accession number :
- 80220003
- Full Text :
- https://doi.org/10.1016/j.mechmachtheory.2012.07.008