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A Study on Translational and Rotational Velocity Performance Indices of Six-Degree-of-Freedom parallel Mechanism  

Kim, Chan-Soo (Dept. of Game & Animation, Honam University)
Publication Information
Journal of Korea Game Society / v.10, no.6, 2010 , pp. 57-65 More about this Journal
Abstract
In this paper, mobility performance indices are proposed which may be used to estimate characteristics of output velocity space in six-degree-of-freedom parallel mechanism. In order for manipulability and condition number to not suffer from lack of the physical meaning due to dimensional inhomogeneity, output space is partitioned into translational velocity space and rotational velocity space, respectively. In each space, mobility ellipsoids corresponding to unit input space are defined and two types of mobility performance in translational velocity spaces indices are derived. Two types of mobility performance in rotational velocity spaces indices are derived.
Keywords
mobility performance index; manipulability; condition; number; parallel mechanism; mobility ellipsoid;
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