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Angularity and axiality of a Schönflies parallel manipulator

Published online by Cambridge University Press:  24 February 2015

J. Jesús Cervantes-Sánchez ,
José M. Rico-Martínez  and
Víctor H. Pérez-Muñoz
J. Jesús Cervantes-Sánchez*
Affiliation:
Universidad de Guanajuato, DICIS, Departamento de Ingeniería Mecánica 36885, Salamanca, Guanajuato, México. E-mails: jrico@ugto.mx, vperez@ugto.mx
José M. Rico-Martínez
Affiliation:
Universidad de Guanajuato, DICIS, Departamento de Ingeniería Mecánica 36885, Salamanca, Guanajuato, México. E-mails: jrico@ugto.mx, vperez@ugto.mx
Víctor H. Pérez-Muñoz
Affiliation:
Universidad de Guanajuato, DICIS, Departamento de Ingeniería Mecánica 36885, Salamanca, Guanajuato, México. E-mails: jrico@ugto.mx, vperez@ugto.mx
*
*Corresponding author. E-mail: jecer@ugto.mx
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Summary

This paper presents a systematic approach to compute the angularity and the axiality indices for a Schönflies parallel manipulator. Angularity index may be considered as a measure of the sensitivity of the mobile platform to changes in rotation, while axiality index can be used to measure the sensitivity of the OP of the mobile platform to changes in translation. Since both indices were inspired by very fundamental concepts of classical kinematics (angular velocity vector and helicoidal velocity field), they offer a clear and simple physical meaning, which may be useful to the designer of parallel manipulators. Moreover, both dexterity indices do not require obtaining a dimensionally homogeneous Jacobian matrix, nor do they depend on having similar types of actuators in each manipulator's leg. Detailed numerical examples are given in order to illustrate the computation of the dexterity indices.

Keywords

Schönflies parallel manipulatordexterity indicesangularityaxiality
Type
Articles
Information
Robotica , Volume 34 , Issue 11 , November 2016 , pp. 2415 - 2439
Copyright
Copyright © Cambridge University Press 2015 

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