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Consistent Kinetostatic Indices for Planar 3-DOF Parallel Manipulators, Application to the Optimal Kinematic Inversion

[+] Author Affiliations
Ofelia Alba-Gomez, Philippe Wenger

IRCCyN, Nantes Cedex, France

Alfonso Pamanes

ITLag, Torreón, Coahuila, Mexico

Paper No. DETC2005-84326, pp. 765-774; 10 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


This paper investigates the problem of defining a consistent kinetostatic performance index for symmetric planar 3-DOF parallel manipulators. The condition number of the Jacobian matrix is known to be an interesting index. But since the Jacobian matrix is dimensionally inhomogeneous, a normalizing length must be used. This paper proposes two distinct kinetostatic indices. The first one is defined as the reciprocal of the condition number of the Jacobian matrix normalized with a convenient characteristic length. The second index is defined by a geometric interpretation of the “distance” to singularity. The two indices are compared and applied to the kinematic inversion in the presence of redundancy.

Copyright © 2005 by ASME
Topics: Manipulators



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