Performance evaluation of two-degree-of-freedom planar parallel robots

被引：109
作者：
Gao, F [1 ]
Liu, XJ
Gruver, WA
机构：
[1] Simon Fraser Univ, Sch Engn Sci, Intelligent Robot & Mfg Syst Lab, Burnaby, BC V5A 1S6, Canada
[2] Yanshan Univ, Robot Res Ctr, Qinhuangdao, Hebei, Peoples R China
[3] Simon Fraser Univ, Sch Engn Sci, Intelligent Robot & Mfg Syst Lab, Burnaby, BC V5A 1S6, Canada
来源：
MECHANISM AND MACHINE THEORY | 1998年 / 33卷 / 06期
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1016/S0094-114X(97)00102-X
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
We utilize a geometric model of the solution space to obtain analytical relationships between the link lengths of two-degree-of-freedom parallel planar manipulators and performance criteria based on the global conditioning and global velocity indices. The model is used to develop graphical charts that are useful for analysis and design of the mechanisms. (C) 1998 Elsevier Science Ltd. All rights reserved.
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页码：661 / 668
页数：8
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