The Isotropic Design of Two General Classes of Planar Parallel Manipulators

摘要

Manipulator designs with isotropic architectures have a number of advantages, including high servo accuracy and dexterity. Using the isotropy criterion, isotropic designs of two general classes of planar, three-degree-of-freedom, parallel manipulators with three legs are produced. One of these classes comprises 20 manipulators, while the other, 4. As special cases for each class, the complete set of isotropic designs of 2 manipulators is found. The parameter space of isotropic design of these manipulators is a continuum of at least one dimension.