CARTESIAN DIMENSIONAL HOMOGENEOUS JACOBIAN MATRIX FOR PERFORMANCE EVALUATION AND OPTIMIZATION OF COMPLEX DOF PARALLEL MANIPULATOR

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HOSSEINI MIR AMIN

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Journal: Modares Mechanical Engineering Year:2014 | Volume:14 | Issue:10 Page(s): 129-138

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Information Journal Paper

Title

CARTESIAN DIMENSIONAL HOMOGENEOUS JACOBIAN MATRIX FOR PERFORMANCE EVALUATION AND OPTIMIZATION OF COMPLEX DOF PARALLEL MANIPULATOR

Author(s)

HOSSEINI MIR AMIN | Issue Writer Certificate

Keywords

HOMOGENEOUS CARTESIAN JACOBIAN MATRIXQ2

PARALLEL KINEMATICQ2

OPTIMIZATIONQ2

COMPLEX DOFQ2

CARTESIAN WORKSPACEQ2

Abstract

Kinematic performance indices are used to have an evaluation of the potential efficiency of the robots. Some of these items are designing the optimal structure,trajectory planning, programming, and evaluation of behavior of the robot in positioning and orienting withdesired rates or resolution. These indices will be used when the robot has even translational or rotational degrees of freedom (DoF). Due to dimensional incompatibility of the Jacobian entries in the COMPLEX DOF’s robots with both types of DoF’s, performance indices such as Jacobian condition index and associate singular values, are not applicable. In this paper, inhomogeneity of Jacobin matrix has been resolved by introducing a new Jacobian matrix which is called Cartesian Jacobian Matrix (CJM).Cartesian Jacobian Matrix maps Cartesian velocity vector of End-Effector (EE) to the joint space velocity vector. As a case study, the suggested method has been used for a Tricept PARALLEL KINEMATIC manipulator. Moreover, considering Local Conditioning Index (LCI) and associatedsingular values through the workspace have been led to structure OPTIMIZATION of the robot in order to have maximum positioning and orienting rates of EE through the maximum cuboid workspace. The OPTIMIZATION has been performed by Genetic algorithm via GA toolbox of MATLAB 2012 software.

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APA: Copy

HOSSEINI, MIR AMIN. (2014). CARTESIAN DIMENSIONAL HOMOGENEOUS JACOBIAN MATRIX FOR PERFORMANCE EVALUATION AND OPTIMIZATION OF COMPLEX DOF PARALLEL MANIPULATOR. MODARES MECHANICAL ENGINEERING, 14(10), 129-138. SID. https://sid.ir/paper/177815/en

Vancouver: Copy

HOSSEINI MIR AMIN. CARTESIAN DIMENSIONAL HOMOGENEOUS JACOBIAN MATRIX FOR PERFORMANCE EVALUATION AND OPTIMIZATION OF COMPLEX DOF PARALLEL MANIPULATOR. MODARES MECHANICAL ENGINEERING[Internet]. 2014;14(10):129-138. Available from: https://sid.ir/paper/177815/en

IEEE: Copy

MIR AMIN HOSSEINI, “CARTESIAN DIMENSIONAL HOMOGENEOUS JACOBIAN MATRIX FOR PERFORMANCE EVALUATION AND OPTIMIZATION OF COMPLEX DOF PARALLEL MANIPULATOR,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 10, pp. 129–138, 2014, [Online]. Available: https://sid.ir/paper/177815/en

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