Development of derivation of inverse Jacobian matrices for 195 6-DOF GSP   mechanisms

Metin TOZ; Serdar KÜÇÜK

Makale detayları

Development of derivation of inverse Jacobian matrices for 195 6-DOF GSP mechanisms

Yazarlar:

Metin TOZ | Serdar KÜÇÜK

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2016 Vol.24 Issue 5, pp.4142-4153

Belge Tipi:

Makale

Yayın Tarihi:

9/2016

Belge Dili:

Türkçe

Document ID (Org No.):

2000741616

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

One of the key issues in robotics is finding   high-performance manipulator structures. To evaluate the performance of a   parallel manipulator, researchers mostly use kinematic performance indices   (such as condition number, minimum singular value, dexterity,   and manipulability), which are based on inverse Jacobian matrices. Driving   the inverse Jacobian matrix of even one parallel manipulator is a very   cumbersome process. However, in this paper, general equations for the   inverse Jacobian matrices of 195 GSP mechanisms are symbolically derived by   considering 4 basic leg types having 1 angular and 4 distance constraints.   With the help of these general equations, the development of the inverse   Jacobian matrix for a GSP mechanism can be achieved by defining only the leg   connection points on the base and moving platforms with minimum cost. Having   derived the inverse Jacobian matrices, one can directly compute kinematic   performance indices to measure and compare the manipulator performance of   the 195 GSP mechanism. These analyses may yield new high-performance GSP   mechanisms for use in engineering, medical device design, and other applied   branches. Two different mechanisms (symmetrical and asymmetrical) are given   as examples to describe the methodology for deriving the inverse Jacobian   matrices. Finally, 2 numerical examples are given for illustrating the   practical applications of the procedure.

Makale detayları

Development of derivation of inverse Jacobian matrices for 195 6-DOF GSP mechanisms

Yazarlar: Metin TOZ | Serdar KÜÇÜK

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2016 Vol.24 Issue 5, pp.4142-4153

Belge Tipi: Makale

Yayın Tarihi: 9/2016

Belge Dili: Türkçe

Document ID (Org No.): 2000741616

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Metin TOZ | Serdar KÜÇÜK

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2016 Vol.24 Issue 5, pp.4142-4153

Belge Tipi:

Makale

Yayın Tarihi:

9/2016

Belge Dili:

Türkçe

Document ID (Org No.):

2000741616

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632