Global Indices for Kinematic and Force Transmission Performance in Parallel Robots

Kevin C. Olds

doi:10.1109/TRO.2015.2398632

Global Indices for Kinematic and Force Transmission Performance in Parallel Robots

Kevin C. Olds

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

This paper defines, develops, and demonstrates new indices for quantifying kinematic and force transmission performance of parallel robotic mechanisms. Conventional indices are first analyzed and shown to be insufficient for characterizing common design specifications based on worst-case performance. New indices are then developed, analyzed, and extended to simply and intuitively quantify global worst-case kinematic and force performance. These new tools are then successfully applied to the design, optimization, and analysis of a linear delta robot for medical applications.

Original language	English (US)
Article number	7057635
Pages (from-to)	494-500
Number of pages	7
Journal	IEEE Transactions on Robotics
Volume	31
Issue number	2
DOIs	https://doi.org/10.1109/TRO.2015.2398632
State	Published - Apr 1 2015
Externally published	Yes

Keywords

Optimal design
parallel robots
performance indices
robot kinematics

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TRO.2015.2398632

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Global Indices for Kinematic and Force Transmission Performance in Parallel Robots

Abstract

Keywords

ASJC Scopus subject areas

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