Abstract
This paper presents a convex hull-based velocity transmission capability analysis of parallel manipulators (PMs) for more accurate design and performance evaluation of PMs. The velocity transmission capability analysis based on the manipulability ellipsoid does not provide accurate information on how fast a PM can move along an arbitrary direction since the joint velocities are normalized by the two-norm (≤ 1). Therefore, for an accurate velocity transmission capability, a computationally efficient convex hull-based approach is proposed here using minimum infinity-norm solutions. Due to the calculation complexity and the dimensional inconsistency, the velocity transmission capability was analyzed separately for the translational and rotational velocity convex hulls. Moreover, for quantitative measures of the translational and rotational velocities, three performance indices (PI), i.e., local, global, and weighted PI, are proposed to visualize dexterousness of PMs. The proposed method is applied to a general 6 degrees of freedom PM to show the effectiveness of the proposed approach.
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