Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator

Mechanism and Machine Theory

Volumn 45, Issue 5, 2010, Pages 722-739

  Jiang, Hong Zhou ^a   He, Jing Feng ^a   Tong, Zhi Zhong ^a  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

Author keywords

6 DOF Parallel manipulator; Centro symmetric matrix; Dynamic isotropy; Gough Stewart platform; Joint space mass matrix; Optimal design

Indexed keywords

6 DOF PARALLEL MANIPULATOR; CENTRO SYMMETRIC MATRIX; GOUGH-STEWART PLATFORM; JOINT SPACE; MASS MATRICES; OPTIMAL DESIGN; SYMMETRIC MATRICES;

DESIGN; MANIPULATORS; OPTIMAL SYSTEMS; OPTIMIZATION; SOLAR PONDS;

MATRIX ALGEBRA;

EID: 77049100718     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2009.12.003     Document Type: Article

References (31)

1. Fattah A., and Hasan Ghasemi A.M. Isotropic design of spatial parallel manipulators. The International Journal of Robotics Research 21 9 (2002) 811-824 10.1177/027836490202100984
2. Bandyopadhyay S., and Ghosal A. An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulators. Mechanism and Machine Theory 43 5 (2008) 591-616 10.1016/j.mechmachtheory.2007.05.003
3. Merlet J.P. Jacobian, manipulability, condition number, and occuracy of parallel robots. Journal of Mechanical Design 128 1 (2006) 199-206 10.1115/1.2121740
4. Stocco L., Salcudean S., and Sassani F. Fast constrained global minimax optimization of robot parameters. Robotica 16 (1998) 595-605
5. Stocco L., Salcudean S., and Sassani F. On the use of scaling matrices for task specific robotic design. IEEE Transactions on Robotics and Automation 15 (1999) 958-965
6. Stocco L., Salcudean S., and Sassani F. Optimal kinematic design of a haptic pen. IEEE/ASME Transactions on Mechatronics 6 (2001) 210-220
7. Gosselin C., and Angeles J. A global performance index for the kinematic optimization of robotic manipulators. ASME Journal of Mechatronics and Design 113 (1991) 220-226
8. Pittens K.H., and Podhorodeski R.P. A family of Stewart platforms with optimal dexterity. Journal of Robotics System 10 4 (1993) 464-479
9. McInroy J.E., and Hamann J. Design and control of flexure jointed hexapods. IEEE Transaction on Robotics 16 4 (2000) 372-381
10. McInroy J.E. Modeling and design of flexure jointed Stewart platforms for control purposes. IEEE ASME Transaction on Mechatronics 7 1 (2002)
11. J. McInroy, Properties of orthogonal Stewart platform, Proceedings of SPIE, (2003) 5056 (591). doi:10.1117/12.483460.
12. Farhad J., and McInroy J.E. Orthogonal Gough-Stewart platforms for micromanipulation. IEEE Transactions on Robotics and Automation 19 4 (2003) 595-603
13. Kim S.-G., and Ryu J. New dimensionally homogeneous Jacobian matrix formulation by three end-effector points for optimal design of parallel manipulators. IEEE Transactions on Robotics and Automation 19 4 (2003) 731-737
14. Yi Yong, J.E. McInroy, F. Jafari, Generating classes of locally orthogonal Gough-Stewart platforms, Robotics, IEEE Transactions on Robotics and Automation (2005) 21 (5) 812-820.
15. McInroy J.E., and Jafari F. Finding symmetric orthogonal Gough-Stewart platforms. IEEE Transactions on Robotics 22 5 (2006) 880-889
16. Bandyopadhyay S., and Ghosal A. An algebraic formulation of static isotropy and design of statically isotropic 6-6 Stewart platform manipulators. Mechanism and Machine Theory 44 7 (2009) 1360-1370 10.1016/j.mechmachtheory.2008.11.002
17. Yoshikawa T. Dynamic manipulability of robot manipulators. IEEE Conference on Decision and Control 2 (1985) 1033-1038
18. O. Ma, J. Angeles, The concept of dynamic isotropy and its applications to inverse kinematics and trajectory planning, in: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, 1990, pp. 470-475.
19. O. Ma, J. Angeles, Optimum design of manipulator under dynamic isotropy condition, in: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 1, 1993, pp. 470-475.
20. Mukherjee P., Dasgupta B., and Mallik A.K. Dynamic stability index and vibration analysis of a flexible Stewart platform. Journal of Sound and Vibration 307 3-5 (2007) 495-512
21. Wang W., Yang H.-Y., et al. Optimal design of Stewart platforms based on expanding the control bandwidth while considering the hydraulic system design. Journal of Zhejiang University: Science A 10 1 (2009) 22-30
22. S.H. Koekebakker, Model based control of a flight simulator motion system, Ph.D. Thesis, Delft University of Technology, 2001.
23. Dasgupta B., and Mruthyunjaya T.S. Closed-form dynamic equation of the general Stewart platform through the Newton-Euler approach. Mechanism and Machine Theory 33 7 (1998) 993-1012
24. Chen Y., and McInroy J.E. Decoupled control of flexure-jointed hexapods using estimated joint-space mass-inertia matrix. IEEE Transactions on Control Systems Technology 12 3 (2004) 413-421
25. Gogu G. Structural Synthesis of Parallel Robots, Part 1: Methodology (2008), Springer pp. 256-257
26. Roebuck P.A., and Barnett S. A survey of Toeplitz and related matrices. International Journal of Systems Science 9 8 (1978) 921-934 10.1080/00207727808941749 pp. 1464-5319
27. Rojo O., and Rojo H. Some results on symmetric circulant matrices and on symmetric centrosymmetric matrices. Linear Algebra and Its Applications 392 1-3 (2004) 211-233 10.1016/j.laa.2004.06.013
28. Tao D., and Yasuda M. A spectral characterization of generalized real symmetric centrosymmetric and generalized real symmetric skew-centrosymmetric matrices. SIAM Journal on Matrix Analysis and Applications 23 3 (2002) 885-895
29. Trench W.E. Characterization and properties of matrices with generalized symmetry or skew symmetry. Linear Algebra and Its Applications 377 (2004) 207-218 10.1016/j.laa.2003.07.013
30. Trench W.F. Inverse eigenproblems and associated approximation problems for matrices with generalized symmetry or skew symmetry. Linear Algebra and Its Applications 380 (2004) 199-211 10.1016/j.laa.2003.10.007
31. Wang Q.W., Sun J.H., and Li S.Z. Consistency for bi (skew) symmetric solutions to systems of generalized Sylvester equations over a finite central algebra. Linear Algebra and Its Applications 353 (2002) 169-182 10.1016/S0024-3795(02)00303-8