Mechanism configuration evaluation of a linear-actuated parallel mechanism using manipulability

T. Masuda; M. Fujiwara; N. Kato; T. Arai

doi:10.1109/ROBOT.2002.1013407

Mechanism configuration evaluation of a linear-actuated parallel mechanism using manipulability

T. Masuda, M. Fujiwara, N. Kato, T. Arai

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

Abstract

The linear-actuated parallel mechanism that changes the motion characteristic according to the actuator configuration is known. We earlier reported on the kinematics and the motion characteristic on the basis of the motion transmissibility. In this report, we analyze the changes in motion characteristics using the measures of manipulability. Indices of manipulability are given with components of the value determined by the singular value decomposition. The typical index is a volume of the manipulability ellipsoid. We clarify the features of the motion characteristics according to a change in the actuator configuration using these indices. Finally, we show the recommended application examples that are designed for mechanisms using the obtained result.

Original language	English
Pages (from-to)	489-495
Number of pages	7
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
DOIs	https://doi.org/10.1109/ROBOT.2002.1013407
Publication status	Published - 2002
Externally published	Yes

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AU - Arai, T.

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Mechanism configuration evaluation of a linear-actuated parallel mechanism using manipulability

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