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Quantitative Dexterous Workspace Comparison of Serial and Parallel Planar Mechanisms InTech
Geoff T. Pond; Juan A. Carretero.
Through either method of obtaining a constrained dimensionally homogeneous Jacobian matrix (proposed by (Gosselin, 1992) or by (Pond & Carretero, 2006)) for planar mechanisms, a choice exists on which of the potential six Cartesian velocity components on the end effector be used to define the task space velocity variables. The choice has an influence on the resulting Jacobian matrix and therefore its condition number and singular values. Without constraining the Jacobian matrix, the condition number was demonstrated to be essentially meaningless, as in (Kim & Ryu, 2003). In terms of measuring dexterity, the constrained dimensionally homogeneous Jacobian matrices (J'P) are superior to the screw based Jacobian matrix (J) in that they are...
Tipo: 10 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/quantitative_dexterous_workspace_comparison_of_serial_and_parallel_planar_mechanisms
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