The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

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dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.creatorCaro, Stéphane
dc.creatorAngeles, Jorge
dc.date2007-08-29
dc.date.accessioned2026-07-07T08:26:20Z
dc.date.available2026-07-07T08:26:20Z
dc.descriptionThe subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.
dc.descriptionASME 29th Design Automation Conference
dc.identifierhttps://arxiv.org/abs/0708.3896
dc.identifierhttp://arxiv.org/abs/0708.3896
dc.identifierDans 29th Design Automation Conference - ASME 29th Design Automation Conference, France (2002)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/136905
dc.subjectRobotics
dc.titleThe Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
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