Papers by Keyword: Manipulability

Abstract: This paper presents the kinematics for 3-PTT parallel machine tools, the kinematic is analytically performed, the forward and inverse position kinematic equations are explicit functions and workspace is derived and there is no singularity configuration and kinematic coupling in the whole workspace. The manipulability analytical of the parallel machine tool is investigated by the Jacobian matrix.

Abstract: The singular configurations of a type of redundantly actuated parallel manipulator are studied in view of manipulability. Considering the non-square characteristics of Jacobian matrix of redundant input parallel machine, Laplace Theorem and its correlative theorems in Matrices Theory are introduced to avoid the problem that there is no determinant for non-square matrix. Singularity configuration distribution characteristics of this redundant input parallel machine are also depicted for different surfaces and orientations. These results provide pivotal foundations for its valid workspace selection.

Abstract: In the design of upper limb rehabilitation robots, critical issues to be considered are large workspace with minimum singularities to cover enough patients’ upper limb range of motion and higher manipulability for the patients to easily and freely move their arm with applying almost the same force to every direction in a given posture. This paper presents an analysis of the suggested kinematic design considerations of five-bar planar mechanism according to the actuator locations. A comparison between two different five-bar linkage types is given. Finally, several open challenges for the applicability of five-bar planar mechanisms are discussed from the kinematic point of view to upper limb rehabilitation robots.

Abstract: A 3-DOF in-parallel machine tools based on a tripod mechanism is developed and studied, the kinematic is analytically performed, the workspace is derived, Analysis of the a number of conditions of the Jacobian matrix and manipulability is carried, The manipulability analytical of the parallel machine tool is investigated