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.File in questo prodotto:
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