摘要
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.
| 源语言 | 英语 |
|---|---|
| 页（从-至） | 3268-3273 |
| 页数 | 6 |
| 期刊 | Proceedings - IEEE International Conference on Robotics and Automation |
| 卷 | 4 |
| 出版状态 | 已出版 - 1997 |
| 已对外发布 | 是 |
| 活动 | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 4 (of 4) - Albuquerque, NM, USA 期限: 20 4月 1997 → 25 4月 1997 |