Dexterity characterization of the RPR parallel manipulator based on the local and global condition indices

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• 作者：Vahid Rezania ; Saeed Ebrahimi
• 关键词：Manipulability ; 3 ; RPR parallel manipulator ; Dexterity index ; Condition number
• 刊名：Journal of Mechanical Science and Technology
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：31
• 期：1
• 页码：335-344
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Mechanical Engineering; Vibration, Dynamical Systems, Control; Industrial and Production Engineering;
• 出版者：Korean Society of Steel Construction
• ISSN：1976-3824
• 卷排序：31

文摘

In this paper, the kinematic performance of a planar parallel manipulator 3-RPR is investigated. Based on the constraint equations, robot geometric Jacobian matrix is calculated. Since the end-effector of the 3-RPR planar parallel manipulator performs both translational and rotational motions, robot geometric Jacobian matrix is transformed to a homogeneous form. This method defines a new Jacobian that transforms the linear velocities of two points on the end-effector to the actuator velocities. The velocity manipulability index is used for studying the ability of the manipulator to move. The manipulator distance singularity and kinematic accuracy is checked out by using the Local conditioning index (LCI) and Global conditioning index (GCI). The effect of Jacobian matrix homogenization on both the LCI and manipulability index is investigated in detail. Furthermore, the relation between LCI and the manipulability ellipsoids for certain moving platform orientations is studied. The paper is finally concluded by checking out the shapes of the manipulability ellipsoids for different moving platform orientations over the whole workspace.