Abstract
Abstract. This extensive review paper, which involves 204 papers,
discusses comprehensively a number of performance indices that are
instrumental in the design of parallel kinematics manipulators. These
indices measure the workspace as well as its quality including the distance
to singularity, dexterity, manipulability, force transmission, accuracy,
stiffness, and dynamic performance. After being classified, the indices are
discussed in terms of some important aspects including definition, physical
meaning soundness, dependency, consistency, scope of applicability, and
computation cost. For the sake of completeness, some key mathematical
expressions of the indices are provided.
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Cited by
24 articles.
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