New indices capable of evaluating the local and global dynamic performances of parallel manipulators with three or less-than-three degrees of freedom have been recently presented by these authors in previous papers. In this paper, these indices are reviewed and generalized; a methodology is then proposed which shows their usefulness when different manipulator architectures have to be compared from a dynamic viewpoint, or when a given architecture must be optimized in order to provide the best dynamic performances. Examples are reported to elucidate the effectiveness of the methodology.

Dynamic performance evaluation and design of 3 and less-than-3 degrees of freedom parallel manipulators

PARENTI CASTELLI, VINCENZO
2006

Abstract

New indices capable of evaluating the local and global dynamic performances of parallel manipulators with three or less-than-three degrees of freedom have been recently presented by these authors in previous papers. In this paper, these indices are reviewed and generalized; a methodology is then proposed which shows their usefulness when different manipulator architectures have to be compared from a dynamic viewpoint, or when a given architecture must be optimized in order to provide the best dynamic performances. Examples are reported to elucidate the effectiveness of the methodology.
Parallel Kinematic Machines in Research and Practice : PKS2006
213
231
DI GREGORIO R.; PARENTI CASTELLI V.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/58948
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