Abstract
This paper presents three new indices for the characterization of the dynamic behavior of 3-dof parallel manipulators. The first index measures the dynamic isotropy of the manipulator, whereas the second and the third indices measure the manipulator swiftness, that is the manipulator capability to produce end-effector acceleration. They allow dynamic behavior of different manipulators to be compared. The indices can be easily expressed as functions of both the parameters locating the end-effector pose and the inertial and the geometric parameters of the links Moreover, based on their properties, a simple design procedure to size a three-dof manipulator so that it fulfills given dynamic requirements is presented.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Angeles, J. (1997), Fundamentals of robotic mechanical systems, Springer-Verlag, New York (USA), p. 219.
Asada, H. (1983), A geometrical representation of manipulator dynamics and its applications to arm design, ASME Journal of Dynamic Systems, Measurement, and Control, 105, No. 3, pp. 131–135.
Baiges, I.J:, and Duffy, J., (1996), “Dynamic modelling of parallel manipulators,” 1996 ASME DETC,Paper 96-DETCIMECH-1136, Irvine, California.
Clavel, R. (1988), DELTA: a fast robot with parallel geometry, Proc. of the 18th International Symposium on Industrial Robots, Sydney, Australia, pp. 91–100.
Do, W.Q.D., and Yang, D.C.H. (1988), Inverse dynamic analysis and simulation of a platform type of robot, Journal of Robotic Systems, 5, No. 3, pp. 209–227.
Pang, H., and Shahingpoor, M. (1994), Inverse dynamics of a parallel manipulator, Journal of Robotic Systems, 11, No. 8, pp. 693–702.
Pierrot, F., Dauchez, P., and Fournier, A. (1991), Hexa a fast six-dof fully parallel robot, Proceedings of the 5th International Conference on Advanced Robotics, Pisa (Italy), pp. 1158–1163.
Tsai, L.W. (2000), Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work, ASME Journal of Mechanical Design, 122, No. 1, pp. 3–9.
Wang, J., and Gosselin, C.M. (1998), A new approach for the dynamic analysis of parallel manipulators, Multibody System Dynamics, 2, pp. 317–334.
Wiens, G.J., Scott, R.A., and Zarrugh, M.Y. (1989), The role of inertia sensitivity in the evaluation of manipulator performance, ASME Journal of Mechanical Design, Vol. 111, pp. 194–199.
Yoshikawa, T. (1990), Foundations of robotics: analysis and control, The Mit Press, Cambridge, Massachusetts.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2002 Springer Science+Business Media Dordrecht
About this chapter
Cite this chapter
Di Gregorio, R., Parenti-Castelli, V. (2002). Dynamic Performance Indices for 3-DOF Parallel Manipulators. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_2
Download citation
DOI: https://doi.org/10.1007/978-94-017-0657-5_2
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
eBook Packages: Springer Book Archive