Parallel Robot Translational Performance Evaluation through Direction-Selective Index (DSI)
Joint Authors
Trevisani, A.
Rosa, R.
Boschetti, G.
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-08-23
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
Performance indexes usually provide global evaluations of robot performances mixing their translational and/or rotational capabilities.
This paper proposes a definition of performance index, called direction-selective index (DSI), which has been specifically developed for parallel manipulators and can provide uncoupled evaluations of robot translational capabilities along relevant directions.
The DSI formulation is first presented within a general framework, highlighting its relationship with traditional manipulability definitions, and then applied to a family of parallel manipulators (4-RUU) of industrial interest.
The investigation is both numerical and experimental and allows highlighting the two chief advantages of the proposed DSIs over more conventional manipulability indexes: not only are DSIs more accurate in predicting the workspace regions where manipulators can best perform translational movements along specific directions, but also they allow foreseeing satisfactorily the dynamic performance variations within the workspace, though being purely kinematic indexes.
The experiments have been carried out on an instrumented 4-RUU commercial robot.
American Psychological Association (APA)
Boschetti, G.& Rosa, R.& Trevisani, A.. 2011. Parallel Robot Translational Performance Evaluation through Direction-Selective Index (DSI). Journal of Robotics،Vol. 2011, no. 2011, pp.1-14.
https://search.emarefa.net/detail/BIM-448001
Modern Language Association (MLA)
Boschetti, G.…[et al.]. Parallel Robot Translational Performance Evaluation through Direction-Selective Index (DSI). Journal of Robotics No. 2011 (2011), pp.1-14.
https://search.emarefa.net/detail/BIM-448001
American Medical Association (AMA)
Boschetti, G.& Rosa, R.& Trevisani, A.. Parallel Robot Translational Performance Evaluation through Direction-Selective Index (DSI). Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-14.
https://search.emarefa.net/detail/BIM-448001
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-448001