期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 31, 期 2, 页码 494-500出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2015.2398632
关键词
Optimal design; parallel robots; performance indices; robot kinematics
类别
资金
- Intuitive Surgical Inc.
This paper defines, develops, and demonstrates new indices for quantifying kinematic and force transmission performance of parallel robotic mechanisms. Conventional indices are first analyzed and shown to be insufficient for characterizing common design specifications based on worst-case performance. New indices are then developed, analyzed, and extended to simply and intuitively quantify global worst-case kinematic and force performance. These new tools are then successfully applied to the design, optimization, and analysis of a linear delta robot for medical applications.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据