Review article: Performance measures of parallel kinematics manipulators
<p>This extensive review paper, which involves 204 papers, discusses comprehensively a number of performance indices that are instrumental in the design of parallel kinematics manipulators. These indices measure the workspace as well as its quality including the distance to singularity, dexter...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2020-03-01
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| Series: | Mechanical Sciences |
| Online Access: | https://www.mech-sci.net/11/49/2020/ms-11-49-2020.pdf |
| Summary: | <p>This extensive review paper, which involves 204 papers,
discusses comprehensively a number of performance indices that are
instrumental in the design of parallel kinematics manipulators. These
indices measure the workspace as well as its quality including the distance
to singularity, dexterity, manipulability, force transmission, accuracy,
stiffness, and dynamic performance. After being classified, the indices are
discussed in terms of some important aspects including definition, physical
meaning soundness, dependency, consistency, scope of applicability, and
computation cost. For the sake of completeness, some key mathematical
expressions of the indices are provided.</p> |
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| ISSN: | 2191-9151 2191-916X |