Manipulability Analysis of a Parallel Machine Tool: Application to Optimal Link Parameters Design

摘要: In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable 5 face rapid machining, are investigated. By splitting weighted Jacobian matrix into two parts, force and moment together with velocity angular analyzed. A new manipulability measure, combines volume ellipsoid condition number splitted Jcobian matrix, proposed. Two link parameters, ratio upper lower platforms' radii length supporting designed by applying measure derived. Computer simulations provided.