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Communication Dans Un Congrès Année : 2015

Dimensionally Homogeneous Extended Jacobian and Condition Number

Résumé

This paper deals with the formulation of the dimensionally homogeneous extended Jacobian matrix, which is an important issue for the performance analysis of f degrees-of-freedom (f ≤6) parallel manipulator having coupled rotational and translational motions. By using the f independent coordinates to define the permitted motions and (6-f) independent coordinates to define the restricted motions of the moving platform, the 6×6 dimensionally homogeneous extended Jacobian matrix is derived for non-redundant parallel manipulators. The condition number is computed over the homogeneous extended Jacobian matrix, the homogeneous actuation wrench matrix, and the homogeneous constraint wrench matrix to evaluate the performance of the parallel manipulators. By using these indices, the closeness of a pose to different singularities can be detected. An illustrative example with the 3-RPS parallel manipulator is provided to highlight the effectiveness of the approach and the proposed indices.
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Dates et versions

hal-02947196 , version 1 (23-09-2020)

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  • HAL Id : hal-02947196 , version 1

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Latifah Nurahmi, Stéphane Caro. Dimensionally Homogeneous Extended Jacobian and Condition Number. The 2nd International Conference on Mechanical Engineering (ICOME 2015), Sep 2015, Patra Jasa, Bali, Indonesia. ⟨hal-02947196⟩
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