The optimum design of 6-DOF isotropic parallel manipulators

Authors:
K. Y. Tsai;S. R. Zhou
Affiliations:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672;Department of Mechanical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan 10672
Venue:
Journal of Robotic Systems
Year:
2005

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Abstract

How to obtain 6-DOF parallel manipulators with optimum global isotropy is investigated in this paper. A systematic method is first presented to get isotropic parallel designs. A measure for spatial isotropy is then proposed to evaluate and compare the global isotropy of obtained manipulators. Efficient methods to find the minimum and maximum singular values of matrices are developed to facilitate the evaluation process. © 2005 Wiley Periodicals, Inc.