Study of local performance index of 2-DOF parallel manipulator

Jong Gyu Lee; Seung Han Yang; Sang Ryong Lee; Choon Young Lee

doi:10.3795/KSME-A.2013.37.1.089

Study of local performance index of 2-DOF parallel manipulator

Jong Gyu Lee, Seung Han Yang, Sang Ryong Lee, Choon Young Lee

School of Mechanical Engineering

Kyungpook National University

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

1 Scopus citations

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.

Original language	English
Pages (from-to)	89-95
Number of pages	7
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	37
Issue number	1
DOIs	https://doi.org/10.3795/KSME-A.2013.37.1.089
State	Published - 2013

Keywords

Condition number
Jacobian matrix
Kinematic analysis
Parallel manipulator
Performance index

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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.",

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AU - Yang, Seung Han

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AU - Lee, Choon Young

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N2 - 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.

AB - 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.

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Study of local performance index of 2-DOF parallel manipulator

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Keywords

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