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Paper Information

Journal:   JOURNAL OF SCHOOL OF ENGINEERING   2003 , Volume 15 , Number 1; Page(s) 125 To 137.
 
Paper: 

ISOTROPIC DESIGN AND KINEMATICS ACCURACY OF A PLANAR PARALLEL MANIPULATOR WITH MACHINE TOOL APPLICATIONS

 
 
Author(s):  ENFERADI J., MOHAMMADI DANIALI H.R., HOJATI M.H.
 
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Abstract: 

In this paper a planar parallel manipulator, for machine tools applications, is introduced.

High stuffiness, nonexistence of singular cases in its workspace and relatively large workspace are its main advantages. Using the isotropy criterion, isotropic designs of the manipulator is given. Moreover, the global conditioning index (GCI) of the manipulator, throughout its workspace is happened to be pretty well which make it suitable for any high precision work such as machine tool applications.

 

 
Keyword(s): PARALLEL MANIPULATOR, JACOBIAN MATRIX, ISOTROPY, KINEMATICS CONDITIONING INDEX
 
References: 
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