Kinetostatic and Inertial Conditioning of the McGill Schonflies-Motion Generator

被引：22

作者：

Cammarata, Alessandro ^{[1
]}

Angeles, Jorge ^{[2
,3
]}

Sinatra, Rosario ^{[1
]}

机构：

[1] Univ Catania, Dipartimento Ingn Ind & Meccan, I-95123 Catania, Italy

[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2K6, Canada

[3] McGill Univ, Ctr Intelligent Machines, Montreal, PQ H3A 2K6, Canada

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2010年

关键词：

PARALLEL MANIPULATORS; ROBOTIC MANIPULATORS; DESIGN;

D O I：

10.1155/2010/186203

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

This paper focuses on the optimization of the McGill Schonflies Motion Generator. Recent trends on optimum design of parallel robots led us to investigate the advantages and disadvantages derived from an optimization based on performance indices. Particularly, we optimize here two different indices: the kinematic conditioning and the inertial conditioning, pertaining to the condition number of the Jacobian matrix and to that of the generalized inertia matrix of the robot, respectively. The problem of finding the characteristic length for the robot is first investigated by means of a constrained optimization problem; then plots of the kinetostatic and the inertial conditioning indices are provided for a particular trajectory to be tracked by the moving platform of the SMG. Deep connections appear between the two indices, reflecting a correlation between kinematics and dynamics.

引用

页数：9

共 23 条

[1]

Angeles Jorge., 2007, Fundamentals of robotic mechanical systems theory, methods, and algorithms, VThird

[2]

Callegari M, 2005, IEEE INT CONF ROBOT, P4020

[3] The dynamics of parallel Schonflies motion generators: the case of a two-limb system [J].