ASYMMETRIC RECONFIGURATION OF A 3-DOF PARALLEL MANIPULATOR

被引：0

作者：

Balmaceda-Santamaria, A. L. ^{[1
]}

Chavez-Toruno, A. E. ^{[2
]}

机构：

[1] Univ Nacl Ingn, Inst Estudios Super, Fac Tecnol Ind, Managua, Nicaragua

[2] Univ Nacl Ingn, Fac Ciencias & Sistemas, Dept Informat, Managua, Nicaragua

来源：

NEXO REVISTA CIENTIFICA | 2020年 / 33卷 / 01期

关键词：

Parallel manipulator; Performance index; Reconfigurable robot; Screw theory; Workspace; DESIGN; REDUNDANCY;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper an asymmetric reconfigurable parallel manipulator is presented. Asymmetric configurations are obtained by modifying the angle between each of the kinematic chains. Thanks to the reconfiguration proposal significant improvement of the manipulator performance can be obtained with respect to a Delta-type parallel robot. The computation of the best condition number is obtained, the results show that by using the redundancy, all the performance indices that depend on the Jacobian matrix can be improved as well.

引用

页码：137 / 147

页数：11

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