This paper introduces two novel dexterity indices, namely, angularity and axiality, which are used to estimate the motion sensitivity of the mobile platform of a parallel manipulator undergoing a general motion involving translation and rotation. On the one hand, the angularity index can be used to measure the sensitivity of the mobile platform to change in rotation. On the other hand, the axiality index can be used to measure the sensitivity of the operation point (OP) of the mobile platform to change in translation. Since both indices were inspired by very fundamental concepts of classical kinematics (angular velocity vector and helicoidal velocity field), they offer a clear and simple physical insight, which is expected to be meaningful to the designer of parallel manipulators. Moreover, the proposed indices do not require obtaining a dimensionally homogeneous Jacobian matrix, nor do they depend on having similar types of actuators in each manipulator's leg. The details of the methodology are illustrated by considering a classical parallel manipulator.
Two Natural Dexterity Indices for Parallel Manipulators: Angularity and Axiality
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 31, 2013; final manuscript received February 13, 2014; published online June 5, 2014. Assoc. Editor: Philippe Wenger.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Jesús Cervantes-Sánchez, J., Rico-Martínez, J. M., and Pérez-Muñoz, V. H. (June 5, 2014). "Two Natural Dexterity Indices for Parallel Manipulators: Angularity and Axiality." ASME. J. Mechanisms Robotics. November 2014; 6(4): 041007. https://doi.org/10.1115/1.4027236
Download citation file:
- Ris (Zotero)
- Reference Manager