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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. (2011) A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators. IEEE Transactions on Robotics, Vol.27 (No.1). pp. 150-156. doi:10.1109/TRO.2010.2082091
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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 |
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| 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 | ||||
| Dates: |
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| Volume: | Vol.27 | ||||
| Number: | No.1 | ||||
| Number of Pages: | 7 | ||||
| Page Range: | pp. 150-156 | ||||
| DOI: | 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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