论文信息 - The optimum design of 6-DOF isotropic parallel manipulators

The optimum design of 6-DOF isotropic parallel manipulators

How to obtain 6-DOF parallel manipulators with optimum global isotropy is investigated in this paper. A systematic method is first presented to get isotropic parallel designs. A measure for spatial isotropy is then proposed to evaluate and compare the global isotropy of obtained manipulators. Efficient methods to find the minimum and maximum singular values of matrices are developed to facilitate the evaluation process. © 2005 Wiley Periodicals, Inc.

K. Y. Tsai | S. R. Zhou

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