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A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators

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Liu, H., Huang, Tian and Chetwynd, D. G. (Derek G.), 1948-. (2011) A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators. IEEE Transactions on Robotics, Vol.27 (No.1). pp. 150-156. ISSN 1552-3098

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Official URL: http://dx.doi.org/10.1109/TRO.2010.2082091

Abstract

This paper presents a general and systematic approach to formulate the dimensionally homogeneous Jacobian, which is an important issue for the dexterity evaluation and dimensional synthesis of f-degrees-of-freedom (DOF) (f ≤ 6) parallel manipulators having mixed rotational and translational movement capabilities. By the utilization of f independent coordinates to describe the specified motion types of the platform, the f × f dimensionally homogeneous Jacobian is derived directly from the generalized Jacobian, provided that the manipulator has only one type of actuator. The condition number of the new Jacobian is then employed to evaluate the dexterity of two typical 3-DOF parallel manipulators as an illustration of the effectiveness of this approach.

Item Type:	Journal Article
Subjects:	Q Science > QA Mathematics T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Science > Engineering
Library of Congress Subject Headings (LCSH):	Manipulators (Mechanism) -- Mathematical models, Jacobians
Journal or Publication Title:	IEEE Transactions on Robotics
Publisher:	Institute of Electrical and Electronic Engineers
ISSN:	1552-3098
Official Date:	February 2011
Volume:	Vol.27
Number:	No.1
Number of Pages:	7
Page Range:	pp. 150-156
Identification Number:	10.1109/TRO.2010.2082091
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access
Funder:	Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC)
Grant number:	50535010 (NSFC), 50775158 (NSFC)
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URI:	http://wrap.warwick.ac.uk/id/eprint/41476