Abstract:
The use of evaluation criteria, such as the global conditioning
index, global payload index, and global stiffness index, to
select the link lengths of spherical 3-DOF parallel manipulator
with prismatic actuators and analyze their operational
performance is concerned. The technique has wide application to
the design of the serial and parallel robots.
Key words: Spherical
parallel manipulator Physical model of space Mechanical design Performance indices Atlases
Manuscript
received on December 10, 1999; revised manuscript Marcch 15, 2000
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