ISOTROPIC DESIGN AND KINEMATICS ACCURACY OF A PLANAR PARALLEL MANIPULATOR WITH MACHINE TOOL APPLICATIONS

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ENFERADI J.; MOHAMMADI DANIALI H.R.; HOJATI M.H.

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Paper Information

Journal: JOURNAL OF SCHOOL OF ENGINEERING Year:2003 | Volume:15 | Issue:1 Page(s): 125-137

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Title

ISOTROPIC DESIGN AND KINEMATICS ACCURACY OF A PLANAR PARALLEL MANIPULATOR WITH MACHINE TOOL APPLICATIONS

Author(s)

ENFERADI J. | MOHAMMADI DANIALI H.R. | HOJATI M.H. | Issue Writer Certificate

Keywords

PARALLEL MANIPULATORQ4

JACOBIAN MATRIXQ4

ISOTROPYQ4

KINEMATICS CONDITIONING INDEXQ4

Abstract

In this paper a planar PARALLEL MANIPULATOR, for machine tools applications, is introduced. High stuffiness, nonexistence of singular cases in its workspace and relatively large workspace are its main advantages. Using the ISOTROPY criterion, isotropic designs of the manipulator is given. Moreover, the global conditioning index (GCI) of the manipulator, throughout its workspace is happened to be pretty well which make it suitable for any high precision work such as machine tool applications.

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APA: Copy

ENFERADI, J., MOHAMMADI DANIALI, H.R., & HOJATI, M.H.. (2003). ISOTROPIC DESIGN AND KINEMATICS ACCURACY OF A PLANAR PARALLEL MANIPULATOR WITH MACHINE TOOL APPLICATIONS. JOURNAL OF SCHOOL OF ENGINEERING, 15(1), 125-137. SID. https://sid.ir/paper/22534/en

Vancouver: Copy

ENFERADI J., MOHAMMADI DANIALI H.R., HOJATI M.H.. ISOTROPIC DESIGN AND KINEMATICS ACCURACY OF A PLANAR PARALLEL MANIPULATOR WITH MACHINE TOOL APPLICATIONS. JOURNAL OF SCHOOL OF ENGINEERING[Internet]. 2003;15(1):125-137. Available from: https://sid.ir/paper/22534/en

IEEE: Copy

J. ENFERADI, H.R. MOHAMMADI DANIALI, and M.H. HOJATI, “ISOTROPIC DESIGN AND KINEMATICS ACCURACY OF A PLANAR PARALLEL MANIPULATOR WITH MACHINE TOOL APPLICATIONS,” JOURNAL OF SCHOOL OF ENGINEERING, vol. 15, no. 1, pp. 125–137, 2003, [Online]. Available: https://sid.ir/paper/22534/en

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