Kinetostatic and Inertial Conditioning of the McGill Schönflies-Motion Generator
Joint Authors
Cammarata, Alessandro
Angeles, Jorge
Sinatra, Rosario
Source
Advances in Mechanical Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-01-21
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper focuses on the optimization of the McGill Schönflies Motion Generator.
Recent trends on optimum design of parallel robots led us to investigate the advantages and disadvantages derived from an optimization based on performance indices.
Particularly, we optimize here two different indices: the kinematic conditioning and the inertial conditioning, pertaining to the condition number of the Jacobian matrix and to that of the generalized inertia matrix of the robot, respectively.
The problem of finding the characteristic length for the robot is first investigated by means of a constrained optimization problem; then plots of the kinetostatic and the inertial conditioning indices are provided for a particular trajectory to be tracked by the moving platform of the SMG.
Deep connections appear between the two indices, reflecting a correlation between kinematics and dynamics.
American Psychological Association (APA)
Cammarata, Alessandro& Angeles, Jorge& Sinatra, Rosario. 2010. Kinetostatic and Inertial Conditioning of the McGill Schönflies-Motion Generator. Advances in Mechanical Engineering،Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-452861
Modern Language Association (MLA)
Cammarata, Alessandro…[et al.]. Kinetostatic and Inertial Conditioning of the McGill Schönflies-Motion Generator. Advances in Mechanical Engineering No. 2010 (2010), pp.1-9.
https://search.emarefa.net/detail/BIM-452861
American Medical Association (AMA)
Cammarata, Alessandro& Angeles, Jorge& Sinatra, Rosario. Kinetostatic and Inertial Conditioning of the McGill Schönflies-Motion Generator. Advances in Mechanical Engineering. 2010. Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-452861
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-452861