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http://dx.doi.org/10.3795/KSME-A.2013.37.1.089

Study of Local Performance Index of 2-DOF Parallel Manipulator  

Lee, Jong Gyu (Institute of Mechanical Engineering Technology, Kyungpook Nat'l Univ.)
Yang, Seung Han (School of Mechanical Engineering, Kyungpook Nat'l Univ.)
Lee, Sang Ryong (School of Mechanical Engineering, Kyungpook Nat'l Univ.)
Lee, Choon Young (School of Mechanical Engineering, Kyungpook Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.37, no.1, 2013 , pp. 89-95 More about this Journal
Abstract
This study investigates a parallel manipulator that can move over two parallel sliders and in which the end-effector of the manipulator can be adjusted arbitrarily. Through the direct and inverse kinematics of the manipulator, position equations are derived. These equations represent the relationship between the positions of the sliders and the position of the end-effector. The Jacobian matrices of the direct and inverse kinematics are obtained by these equations. By using the condition number defined from these matrices, the local performance index of the manipulator is proposed. By using the simulation results of the performance index, we find that the manipulator can smoothen movements in only one quadrant and that the distribution of the maximal performance index is affected by the ratio of the length of links and the orientation of the end-effector.
Keywords
Parallel Manipulator; Kinematic Analysis; Jacobian Matrix; Condition Number; Performance Index;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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