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An NC Code Based Machining Movement Simulation Method for a Parallel Robotic Machine Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Kinematic Analysis and Performance Evaluation of a Redundantly Actuated Hybrid Manipulator

Authors : Lingmin Xu, Qiaohong Chen, Leiying He, Qinchuan Li

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

This paper deals with the kinematic analysis and performance evaluation of a 2-URPR-UPR (U, R, P standing for universal, revolute and prismatic joint, respectively) redundantly actuated hybrid manipulator. First, the kinematic analysis of the proposed manipulator is presented, including mobility analysis, inverse kinematics, and singular analysis. Then, the reciprocal of the condition number based on a dimensionally homogeneous Jacobian matrix is used to evaluate the dexterity by changing the operating height and radius ratios of the mechanism separately. Finally, the global conditioning index is carried out to describe global dexterity performance with different radius ratios.

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previous chapter A Feed-Direction Stiffness Based Trajectory Optimization Method for a Milling Robot
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Metadata
Title
Kinematic Analysis and Performance Evaluation of a Redundantly Actuated Hybrid Manipulator
Authors
Lingmin Xu
Qiaohong Chen
Leiying He
Qinchuan Li
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65291-7

Electronic ISBN: 978-3-319-65292-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65292-4_18

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