Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-27T11:37:53.410Z Has data issue: false hasContentIssue false
  • English
  • Français

Developing contour surfaces of manipulators with specified dexterities

Published online by Cambridge University Press:  11 April 2011

K. Y. Tsai ,
P. J. Lin  and
H. Y. Yu
K. Y. Tsai*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 10672, Taiwan
P. J. Lin
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 10672, Taiwan
H. Y. Yu
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei 10672, Taiwan
*
*Corresponding author. E-mail: kytsai@mail.ntust.edu.tw
Get access Rights & Permissions [Opens in a new window]

Summary

Dexterity and workspace are two of the most important design criteria in developing manipulators. This paper presents algorithms for developing contour surfaces with specified dexterities and evaluating the area of the surfaces or the volume of the enclosed regions. The obtained results can be utilized to evaluate the dexterity and the rate of change of dexterity. Any closed curve or surface can be used to determine the singularity-free workspace of a manipulator with better dexterity. The proposed algorithms can be employed to study the dexterity and singularity-free workspace of 3-DOF manipulators and 4-DOF redundant serial manipulators. The contour surfaces in some subspaces of 6-DOF manipulators can also be investigated.

Keywords

ManipulatorIsotropyDexterityWorkspaceSingularityOptimal design
Type
Articles
Information
Robotica , Volume 29 , Issue 7 , December 2011 , pp. 1025 - 1035
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Klein, C. A. and Blaho, B. E., “Dexterity measures for the design and control of kinematically redundant manipulators,” Int. J. Robot. Res. 6 (2), 72–83 (1987).CrossRefGoogle Scholar
2.Angeles, J. and Rojas, A. A., “Manipulator inverse kinematics via condition number minimization and continuation,” Int. J. Robot. Autom. 2 (2), 61–69 (1987).Google Scholar
3.Gosselin, C. and Angeles, J., “The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator,” ASME J. Mech. Trans. Autom. Des. 111 (2), 202–207 (1989).CrossRefGoogle Scholar
4.Gosselin, C. M., “The optimum design of robotic manipulators using dexterity indexes,” Robot. Auton. Syst. 9, 213–226 (1992).CrossRefGoogle Scholar
5.Gosselin, C. M. and Angeles, J., “A global performance index for the kinematic optimization of robotic manipulators,” ASME J. Mech Des. 113 (3), 220–226 (1991).CrossRefGoogle Scholar
6.Liu, X.-J., Wang, J. and Pritschow, G., “Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms,” Mech. Mach. Theory 41 (2), 119–144 (2006).CrossRefGoogle Scholar
7.Merlet, J. P., “Jacobian, manipulability, condition number, and accuracy of parallel robots,” ASME J. Mech Des. 128 (1), 199–208 (2006).CrossRefGoogle Scholar
8.Miller, K., “Optimal design and modeling of spatial parallel manipulators,” Int. J. Robot. Res. 23 (2), 127–140 (2004).CrossRefGoogle Scholar
9.Liu, X.-J., Jin, Z.-L. and Gao, F., “Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices,” Mech. Mach. Theory 35 (9), 1257–1267 (2000).CrossRefGoogle Scholar
10.Liu, X.-J., Wang, J. and Zheng, H.-J., “Optimum design of the 5R symmetrical parallel manipulator with a surrounded and good-condition workspace,” Robot. Autom. Syst. 54 (3), 221–233 (2006).CrossRefGoogle Scholar
11.Tsai, K. Y. and Zhou, S. R., “The optimum design of 6-DOF isotropic parallel manipulators,” J. Robot. Syst. 22 (6), 333–340 (2005).CrossRefGoogle Scholar
12.Tsai, K. Y., Hsu, I. P. and Kohli, D., “Admissible motions of special manipulators,” IEEE Trans. Rob. Autom. 10 (3), 386–391 (1994).CrossRefGoogle Scholar
13.Tsai, K. Y., Lin, P. Y. and Lee, T. K., “4R spatial and 5R parallel manipulators that can reach maximum number of isotropic positions,” Mech. Mach. Theory 43 (1), 68–79 (2008).CrossRefGoogle Scholar
14.Tsai, K. Y., Lee, T. K. and Jang, Y. S., “A new class of isotropic generators for developing 6-DOF isotropic manipulators,” Robotica 26 (5), 619–625 (2008).CrossRefGoogle Scholar