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Abstrakty
This paper concentrates on widespread study of parallel manipulator. It focuses on optimal designing of manipulator which has a large number of application fields. Optimal design is an important criterion to improve the accuracy of a robot. Through optimal design a robot can achieve isotropic configurations where the condition number of its jacobian matrix equals one. In this we are also concentrating on transmission index and stiffness index along with their plots, which can affect the kinetostatic performance of the robot. In this the singularity of Gough Stewart platform is also studied.
Czasopismo
Rocznik
Tom
Strony
133--141
Opis fizyczny
Bibliogr. 6 poz., 1 il., wykr.
Twórcy
autor
- Mechanical Engineering Department, The ICFAI Foundation for Higher Education, Hyderabad, India
autor
- Department of Mechanical Engineering, JNTUH College of Engineering, Hyderabad, India
Bibliografia
- [1] Mayer St-Onge, B., Gosselin, C. M.: Singularity Analysis and Representation of the General Gough-Stewart Platform, I. J. Robotics Res., 2000.
- [2] Collins, C. L., McCarthy, J. M.: The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane, Mechanism and Machine Theory, 33, 7, 931–944 1998.
- [3] Legnani, G., Tosi, D., Fassi, I., Giberti, H., Cinquemani, S.: The “point of isotropy” and other properties of serial and parallel manipulators, Mechanism and Machine Theory, 45, 1407–1423, 2010.
- [4] Salisbury, J. K., Craig, J. J.: Articulated Hands Force Control and Kinematic Issues, The International Journal of Robotics Research, 1, 1, 4–17, 1982.
- [5] Hollerbach, J. M., Suh, K. C.: Redundancy Resolution of Manipulators through Torque Optimization, IEEE, 1016–1021, 1985.
- [6] Tanev, T., Stoyanov, B.: On the performance Indexes for Robot Manipulators, Journal of Bulgarian Academy of Sciences, Problems of Engineering Cybernetics and Robotics, 49, 64–71, 2000.
Uwagi
Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-98567213-1007-4856-907f-0d903bfc264f