Layanan journal yang disediakan oleh Perpustakaan Universitas Gunadarma
| Judul Artikel | : | New Dimensionally Homogeneous Jacobian Matrix Formulation by Three End-Effector Points for Optimal Design of Parallel Manipulators |
|---|---|---|
| Judul Terbitan | : | IEEE Transactions On Robotics And Automation |
| ISSN | : | 1042296X |
| Bahasa | : | ENG |
| Tempat Terbit | : | New - York |
| Tahun | : | 0000 |
| Volume | : | Vol. 19 Issue 4 0000 |
| Penerbit | : | IEEE |
| Frekuensi Penerbitan | : | |
| Penulis | : | Sung-Gaun Kim, Jeha Ryu |
| Abstraksi | : | Development of optimal design methods for parallel manip ulators is important in obtaining an optimal architecture or pose for the best kinetostatic performance. The use of performance indexes such as the condition number of the conventional Jacobian matrix that is composed of nonhomogeneous physical units, however, may lack in physical signifi cance. In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, we present a new formulation of a dimensionally homo geneous Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points that are coplanar with the mo bile platform joints. The condition number of the new Jacobian matrix is then used to design an optimal architecture or pose of parallel manipu lators for the best dexterity. An illustrative design example with a six-de gree-of-freedom Gough–Stewart platform parallel manipulator by using the proposed formulation is shown to generate the same optimal configu rations as those from using the other existing dimensionally homogenous Jacobian formulation methods. |
| Kata Kunci | : | Dexterity measure; optimum design; parallel manipulator. |
| Lokasi | : | p. 731 |
| Terakreditasi | : | belum |