Formulating Jacobian matrices for the dexterity analysis of parallel manipulators

DOI10.1016/J.MECHMACHTHEORY.2006.01.003zbMath1329.70022OpenAlexW2076005773MaRDI QIDQ857228

Juan A. Carretero, Geoffrey Pond

Publication date: 14 December 2006

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2006.01.003

zbMATH Keywords

workspace analysis3-PRS manipulatordexterity analysisdimensionally homogeneous JacobianJacobian formulation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (6)

Force/motion transmissibility analysis and parameters optimization of hybrid mechanisms with prescribed workspace ⋮ Dexterity measures and their use in quantitative dexterity comparisons ⋮ Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs ⋮ New performance indices for 6-dof UPS and 3-dof RPR parallel manipulators ⋮ Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix ⋮ Wrench capability analysis of redundantly actuated spatial parallel manipulators

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