The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

TL;DR

This paper investigates the singular and isotropic configurations of a special class of planar three-DOF parallel manipulators, introducing a performance index based on isoconditioning loci for better workspace analysis.

Contribution

It introduces a novel approach to analyze isoconditioning loci and defines a global performance index for these manipulators, enhancing workspace and performance evaluation methods.

Findings

Isoconditioning loci are effectively plotted for the Jacobian matrices.

The global performance index correlates with workspace surface and condition number averages.

The study provides insights into optimal configurations for manipulator performance.

Abstract

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.