%0 Journal Article
%T MANIPULABILITY INDEX OF A PARALLEL ROBOT MANIPULATOR
%A A. HARISH
%A G. SATISH BABU
%J International Journal of Mechanical Engineering & Technology (IJMET)
%P 9-17
%@ 0976 - 6359
%D 2016
%X The manipulability index is used to quantify manipulators velocity transmission capabilities or the dexterity of robot. The index is a measure of manipulating ability of robotic mechanisms in positioning and orienting the end effectors. The index allows to quantify the proximity of the robot to a singularity, which is ideal for identifying paths of welding with continuous and soft movements at the robot joints. A university of Maryland manipulator is considered in the present paper. Manipulability index values are determined for the selected structures. A MATLAB code is developed and used for the analysis. The results are graphically presented.
%K Manipulability index
%K Parallel Robotic Manipulator
%K Condition Number
%K Force Isotropy
%K Performance Measures
%U http://www.iaeme.com/MasterAdmin/UploadFolder/MANIPULABILITY%20INDEX%20OF%20A%20PARALLEL%20ROBOT%20MANIPULATOR-2/MANIPULABILITY%20INDEX%20OF%20A%20PARALLEL%20ROBOT%20MANIPULATOR-2.pdf