An algebraic formulation of exact force-, moment-isotropy in spatial parallel manipulators

Bandyopadhyay, Sandipan and Ghosal, Ashitava (2007) An algebraic formulation of exact force-, moment-isotropy in spatial parallel manipulators. In: 12th IFToMM World Congress, June 18-21, 2007, Besancon.

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Abstract

In this paper, we present an algebraic method to study and design spatial parallel manipulators that demonstrate isotropy in the force and moment distributions.We use the force and moment transformation matrices separately,and derive conditions for their isotropy individually as well as in combination. The isotropy conditions are derived in closed-form in terms of the invariants of the quadratic forms associated with these matrices. The formulation has been applied to a class of Stewart platform manipulators. We obtain multi-parameter families of isotropic manipulator analytically. In addition to computing the isotropic configurations of an existing manipulator,we demonstrate a procedure for designing the manipulator for isotropy at a given configuration.

Item Type:	Conference Paper
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	28 Oct 2011 09:32
Last Modified:	28 Oct 2011 09:32
URI:	http://eprints.iisc.ac.in/id/eprint/41769

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