Formulating Jacobian matrices for the dexterity analysis of parallel manipulators

DOI10.1016/J.MECHMACHTHEORY.2006.01.003MaRDI QIDQ857228zbMATH OpenOpenAlexFDO

Authors Geoffrey Pond, Juan A. Carretero

Publication date 14 December 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.01.003

zbMATH Keywords

workspace analysis3-PRS manipulatordexterity analysisdimensionally homogeneous JacobianJacobian formulation

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(16)

• On the regularity of the inverse Jacobian of parallel robots
• Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs
• Quantitative dexterous workspace comparison of parallel manipulators
• Generalized Jacobian analysis of lower mobility manipulators
• Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix
• Computational kinematics for robotic manipulators: Jacobian problems
• Parallel approaches for singular value decomposition as applied to robotic manipulator Jacobians
• Analytical derivation and application of the Jacobian matrix of parallel kinematic manipulators
• Wrench capability analysis of redundantly actuated spatial parallel manipulators
• Dexterity measures and their use in quantitative dexterity comparisons
• Local dexterity analysis for open kinematic chains
• Force/motion transmissibility analysis and parameters optimization of hybrid mechanisms with prescribed workspace
• scientific article; zbMATH DE number 1304572 (Why is no real title available?)
• Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices
• New performance indices for 6-dof UPS and 3-dof RPR parallel manipulators
• Quantitative dexterous workspace comparisons

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