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OALib Journal期刊
ISSN: 2333-9721
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MANIPULABILITY INDEX OF A PARALLEL ROBOT MANIPULATOR

, PP. 9-17

Keywords: Manipulability index, Parallel Robotic Manipulator, Condition Number, Force Isotropy, Performance Measures

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Abstract:

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.

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