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Communication Dans Un Congrès Année : 2002

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

Résumé

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.
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Dates et versions

hal-00168513 , version 1 (28-08-2007)

Identifiants

Citer

Damien Chablat, Philippe Wenger, Stéphane Caro, Jorge Angeles. The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators. ASME 29th Design Automation Conference, Sep 2002, Montreal, Canada. pp.1-6, ⟨10.1115/DETC2002/MECH-34268⟩. ⟨hal-00168513⟩
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