KINEMATIC ISOTROPY OF THE H4 CLASS OF PARALLEL MANIPULATORS

摘要

This paper presents the isotropic conditions for the topological class of H4 parallel manipulators with an articulated traveling plate which has four degrees of freedom. First, a generic kinematic model of this class of manipulators is developed, then we impose isotropic conditions on the Jacobian matrix. From the newly obtained equations, design constraints and a design procedure allowing the determination of all isotropic geometries are obtained. The proposed procedure allows the successive choice and computation of each and all geometrical parameters of an isotropic manipulator of the H4 class.