Kinematics of parallel robots is very important for structural synthesis. We have seen in chapter 2 that the structural parameters of parallel robots are mainly kinematically defined. The duality between velocity and force allows us to give alternative definitions of structural parameters based on statics. The author has preferred the kinematic definition, considering that the kinematic nature of the structural parameters facilitates the understanding of their meaning. Apparently, we are more skilled in imagining the motion than imaging the static or dynamic forces.
In this chapter, we will introduce the main models and performance indices used in parallel robots. In general, to study robot motions, geometric and kinematic models are used. We will present the general approach used to set up these models and we emphasize the Jacobian matrix which is the main issue in defining robot kinematics, singularities and performance indices. We saw in chapter 2 that the Jacobian is the matrix of the linear transformation between the velocity joint space and the operational space. This matrix contains very important information concerning robot behavior from a kinematic and static (kinetostatic) point of view.
KeywordsJacobian Matrix Parallel Robot Joint Velocity Axiomatic Design Inverse Kinematic Problem
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