Dimensional synthesis of spherical parallel manipulators

Authors
Huang, T Zeng, XJ Zeng, ZP Zhang, SC
Citation
T. Huang et al., Dimensional synthesis of spherical parallel manipulators, PROG NAT SC, 11(1), 2001, pp. 50-57
Citations number
13
Categorie Soggetti
Multidisciplinary
Journal title
PROGRESS IN NATURAL SCIENCE
ISSN journal
10020071 → ACNP
Volume
11
Issue
1
Year of publication
2001
Pages
50 - 57
Database
ISI
SICI code
1002-0071(200101)11:1<50:DSOSPM>2.0.ZU;2-I
Abstract
An analytical approach to the dimensional synthesis of spherical parallel m anipulators is investigated. With both the isotropy and force transmission behavior considered, a set of closed-form parametric relationships is obtai ned which enable a global conditioning index to he achieved in the overall workspace. The outcome has been used for the kinematic design of a novel sw ivel worktable.