TY - GEN
T1 - Novel geometric isotropy indices for workspace analysis of planar parallel manipulators
AU - Xiong, Hao
AU - Diao, Xiumin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - Isotropy analysis of workspace plays a critical role in improving the quality of workspace for parallel manipulators. Although various workspace determination approaches have been studied intensively for parallel manipulators in the past decades, workspace isotropy analysis for parallel manipulators has been seldom touched. This paper proposes two novel workspace geometric shape isotropy indices, namely, translational workspace isotropy index and entire workspace isotropy index, for workspace analysis of planar parallel manipulators. Both indices are mathematically defined and can be used to evaluate the isotropy of the geometric shape of the workspace. They are good indicators of the robustness of a planar parallel manipulator to external planar rotational disturbances to the base and can be used as a guideline for optimal design of planar parallel manipulators. Both indices proposed in this paper are evaluated in the optimal design of an example planar cable-driven planar parallel manipulator through simulation.
AB - Isotropy analysis of workspace plays a critical role in improving the quality of workspace for parallel manipulators. Although various workspace determination approaches have been studied intensively for parallel manipulators in the past decades, workspace isotropy analysis for parallel manipulators has been seldom touched. This paper proposes two novel workspace geometric shape isotropy indices, namely, translational workspace isotropy index and entire workspace isotropy index, for workspace analysis of planar parallel manipulators. Both indices are mathematically defined and can be used to evaluate the isotropy of the geometric shape of the workspace. They are good indicators of the robustness of a planar parallel manipulator to external planar rotational disturbances to the base and can be used as a guideline for optimal design of planar parallel manipulators. Both indices proposed in this paper are evaluated in the optimal design of an example planar cable-driven planar parallel manipulator through simulation.
UR - https://www.scopus.com/pages/publications/85028750967
U2 - 10.1109/AIM.2017.8014180
DO - 10.1109/AIM.2017.8014180
M3 - 会议稿件
AN - SCOPUS:85028750967
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1191
EP - 1196
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -