Title

Motion Purity of Robotic Mechanisms with Desired and Undesired Motions

Document Type

Article

Publication Date

7-1-2011

Publication Source

Advanced Robotics Journal

Volume

25

Issue

11

Inclusive pages

1539-1556

DOI

10.1163/016918611X579529

Publisher

Taylor & Francis Ltd

Place of Publication

United Kingdom

ISBN/ISSN

0169-1864

Peer Reviewed

yes

Abstract

For a robotic system, the complete description of the end-effector motion requires six independent parameters, while the desired end-effector motion for a task often needs less than 6 d.o.f. Therefore, the end-effector motion can be divided into desired motion and undesired motion. The end-effector motion is transformed from the joint motions. In this paper, the efficiency of the joint motions to implement the desired motion is investigated and a new concept called motion purity is proposed to measure this efficiency. The new concept is more comprehensive and direct than other existing performance measures, such as the volume of workspace and manipulability. It is appropriate as a design objective at various phases in designing a robotic mechanism. The tripod machine tool is studied and its structure is optimized from the viewpoint of the motion purity.

Keywords

MOTION PURITY, OPTIMIZATION, MANIPULABILITY, PERFORMANCE EVALUATION, KINEMATICS, MOTION TRANSFORMATION, PARALLEL KINEMATIC MACHINE, TRIPOD

Disciplines

Engineering | Mechanical Engineering | Other Mechanical Engineering

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