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2017 | OriginalPaper | Buchkapitel

Kinematic Analysis and Performance Evaluation of a Redundantly Actuated Hybrid Manipulator

verfasst von : Lingmin Xu, Qiaohong Chen, Leiying He, Qinchuan Li

Erschienen in: Intelligent Robotics and Applications

Verlag: 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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Metadaten
Titel
Kinematic Analysis and Performance Evaluation of a Redundantly Actuated Hybrid Manipulator
verfasst von
Lingmin Xu
Qiaohong Chen
Leiying He
Qinchuan Li
Copyright-Jahr
2017
DOI
https://doi.org/10.1007/978-3-319-65292-4_18