%0 Journal Article
%T Study of Automatic Fiber Placement Manipulator¡¯s Robotic Kinematics Manipulability Based on Volume Element
%A Ge Xinfeng
%A Li Ruihua
%J Research Journal of Applied Sciences, Engineering and Technology
%D 2013
%I Maxwell Science Publication
%X The method is proposed based on volume element in order to measure the manipulator¡¯s robotic kinematics manipulability. Then studied the series redundant automatic fiber placement robotic manipulator¡¯s operation space, draw the conclusion that the greater of the robotic manipulator¡¯s operation space volume, the better of the robotic manipulator¡¯s manipulability, volume element based on redundant robotic manipulator¡¯s kinematics is proposed as an operational performance index. n-DOF serial robotic manipulator¡¯s operation space is n-dimensional Riemannian manifold, the n-dimensional Riemannian manifold volume is calculated using the moving coordinate system and the exterior product definition in differential geometry and get the robotic manipulator¡¯s operation space volume then compared the obtained results with the operation space volume using inner product determinant in the literature, it shows that the volume element as a kinematics operational performance index is feasible.
%K Exterior product
%K manipulability
%K riemannian manifold
%K volume element
%U http://maxwellsci.com/jp/abstract.php?jid=RJASET&no=266&abs=54