The design for isotropy of a class of six-dof parallel-kinematics machines

• Published in: Mechanism and machine theory Vol. 126; pp. 34 - 48
• Main Authors: Li, Wei, Angeles, Jorge
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.08.2018
• Subjects: Full mobility; Isotropy; Parallel-kinematics machine; Quasi isotropy; Symbolic Jacobian inverse; Three-limb parallel robot; Quasi isotropy; Isotropy; Parallel-kinematics machine; Full mobility; Three-limb parallel robot; Symbolic Jacobian inverse

•Design for isotropy of a large class of parallel-kinematics machines is investigated.•A design method based on the symbolic form of the Jacobian inverse is introduced.•The concept of quasi isotropy is proposed, offering a performance close to isotropy.•The MP triangle needn’t be equilateral for qua...