TY - JOUR
T1 - Review article
T2 - Performance measures of parallel kinematics manipulators
AU - Rosyid, Abdur
AU - El-Khasawneh, Bashar
AU - Alazzam, Anas
N1 - Funding Information:
Acknowledgements. This research was partially supported by the Khalifa University Internal Research Fund.
Publisher Copyright:
© 2020 Author(s).
PY - 2020/3/16
Y1 - 2020/3/16
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85082099848&partnerID=8YFLogxK
U2 - 10.5194/ms-11-49-2020
DO - 10.5194/ms-11-49-2020
M3 - Review article
AN - SCOPUS:85082099848
SN - 2191-9151
VL - 11
SP - 49
EP - 73
JO - Mechanical Sciences
JF - Mechanical Sciences
IS - 1
ER -