Abstract
In order to analyze the maximum velocity of parallel manipulators in operational space, a graphical method based on the analysis of the algebraic inequalities describing the constraints on the kinematics model is presented. We consider a general 6 d.o.f parallel manipulator and assume that all articular velocities are bounded by the same limit. The method is then applied to the Conventional Stewart Platform chosen as a reference and a New Parallel Manipulator for their performance comparisons. For these two parallel manipulators, respective formula of Jacobian matrix is also given.
| Original language | English |
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| Pages (from-to) | 3268-3273 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| Publication status | Published - 1997 |
| Externally published | Yes |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA Duration: 20 Apr 1997 → 25 Apr 1997 |