Journal ArticleDOI
Kinematic-Sensitivity Indices for Dimensionally Nonhomogeneous Jacobian Matrices
TLDR
These two indices provide tight upper bounds to the end-effector rotation and point-displacement sensitivity under a unit-magnitude array of actuated-joint displacements and are thought to be clear and definite to the designer of a robotic manipulator.Abstract:
Numerous performance indices have been proposed to compare robot architectures based on their kinematic properties. However, none of these indices seems to draw a consensus among the robotics community. The most notorious indices, which are manipulability and dexterity, still entail some drawbacks, which are mainly due to the impossibility to define a single invariant metric for the special Euclidean group. The natural consequence is to use two distinct metrics, i.e., one for rotations and one for point displacements, as has already been proposed by other researchers. This is the approach used in this paper, where we define the maximum rotation sensitivity and the maximum point-displacement sensitivity. These two indices provide tight upper bounds to the end-effector rotation and point-displacement sensitivity under a unit-magnitude array of actuated-joint displacements. Therefore, their meaning is thought to be clear and definite to the designer of a robotic manipulator. Furthermore, methods for the computation of the proposed indices are devised, some of their properties are established and interpreted in the context of robotic manipulator design, and an example is provided.read more
Citations
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Journal ArticleDOI
Manipulator Performance Measures - A Comprehensive Literature Survey
Sarosh Patel,Tarek M. Sobh +1 more
TL;DR: The aim of this survey is to review the definition, classification, scope, and limitations of some of the widely used performance measures to study the performance and behavior of manipulators.
Journal ArticleDOI
Large-scale 3D printing with a cable-suspended robot
Eric Barnett,Clément Gosselin +1 more
TL;DR: In this article, a large-scale 3D printer is introduced, which uses a six-degree-of-freedom cable-suspended robot for positioning, with polyurethane foam as object material and shaving foam as the support material.
Journal ArticleDOI
Kinematically Redundant Spatial Parallel Mechanisms for Singularity Avoidance and Large Orientational Workspace
TL;DR: This paper introduces a novel architecture of kinematically redundant parallel mechanisms similar to the well-known Gough-Stewart platform, and it is shown that the singularities of this type of mechanism are governed by the orientation of passive links connecting the redundant legs to the platform.
Journal ArticleDOI
Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices
TL;DR: Different formulations for the transmissibility and constrainability of parallel manipulators based on the notion of power coefficients and pressure angles are revisited and applied to the performance evaluation of a non-overconstraint Delta robot.
Journal ArticleDOI
Kinematic Analysis and Dimensional Synthesis of Exechon Parallel Kinematic Machine for Large Volume Machining
TL;DR: In this article, an optimization method is developed with the objective to maximize both workspace volume and global dexterity of a parallel kinematic machine (PKM) topology, which can only give its best performance when its geometrical parameters are optimized.
References
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Journal ArticleDOI
Manipulability of robotic mechanisms
TL;DR: In this article, a measure of manipulability of robotic mechanisms in positioning and orienting end-effectors has been proposed and the best postures of various types of manipulators are given, and a four degree-of-freedom finger is considered from the viewpoint of the measure.
Book
Parallel Robots
TL;DR: This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism, Parallel robots, which are becoming increasingly popular in the field of machine-tool industry.
Journal ArticleDOI
Articulated Hands: Force Control and Kinematic Issues
J. Kenneth Salisbury,J. J. Craig +1 more
TL;DR: Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems.
Journal ArticleDOI
A Global Performance Index for the Kinematic Optimization of Robotic Manipulators
Clément Gosselin,Jorge Angeles +1 more
TL;DR: In this article, a performance index for the kinematic optimization of robotic manipulators is presented based on the condition number of the Jacobian matrix of the manipulator, which is known to be a measure of the amplification of the errors due to the joint and Cartesian spaces.