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.
DI GREGORIO R., PARENTI CASTELLI V. (2006). Dynamic performance evaluation and design of 3 and less-than-3 degrees of freedom parallel manipulators. CHEMNITZ : IWP.
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.