| Full text | |
| Author(s): |
Fontes, Joao Vitor C.
;
Vieira, Hiparco L.
;
da Silva, Maira M.
;
Zeghloul, S
;
Romdhane, L
;
Laribi, MA
Total Authors: 6
|
| Document type: | Journal article |
| Source: | COMPUTATIONAL KINEMATICS; v. 50, p. 8-pg., 2018-01-01. |
| Abstract | |
Parallel manipulators present drawbacks such as singularities inside their workspace. In order to measure these drawbacks, the condition number of the Jacobian matrix can be used either as a measurement of the distance between the end effector and singularities or as an isotropy index. In this paper, a study of the impact of kinematic redundancies on the improvement of a planar manipulator's isotropicity and on the reduction of singularities is presented. In order to do so, conditioning maps are exploited for the non-redundant 3RRR and for the kinematically redundant 3PRRR manipulators. The outcome of this evaluation supports evidences in favor of kinematic redundancies regarding kinematic characteristics. (AU) | |
| FAPESP's process: | 14/01809-0 - Towards high speed planar robotic manipulators, Phase I: kinematic redundancy |
| Grantee: | Maira Martins da Silva |
| Support Opportunities: | Regular Research Grants |