Jacobian Matrix and Kinematic Analysis of the Parallel Robots: A Survey

The parallel robots have turned into a dynamic research direction because of the benefits such as high precision, high stiffness and high load-carrying limit over their serial counterparts. A parallel manipulator normally comprises a moving stage that is associated with a fixed base by a few limbs o...

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Bibliographic Details
Published inIUP Journal of Mechanical Engineering Vol. 8; no. 3; p. 56
Main Authors Chandrashekhar, A, Babu, G Satish
Format Journal Article
LanguageEnglish
Published Hyderabad IUP Publications 01.08.2015
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Summary:The parallel robots have turned into a dynamic research direction because of the benefits such as high precision, high stiffness and high load-carrying limit over their serial counterparts. A parallel manipulator normally comprises a moving stage that is associated with a fixed base by a few limbs or legs in parallel. In spite of this fact, the ideas of Jacobian matrix, manipulability and condition number have been floating around the robot systems. Since the beginning of robotics, their real centrality has not been generally well comprehended. Despite this, the condition number assumes a vital part, e.g., for optimal robot plan. This paper presents a discussion on parallel robots and demonstrates that these ideas must be supported by a proper understanding of the kinematics behavior of a robot.
ISSN:0974-6536