Review article: Performance measures of parallel kinematics manipulators
Abdur Rosyid, Bashar El‐Khasawneh, Anas Alazzam
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.
Topics & Concepts
WorkspaceSoundnessKinematicsCompleteness (order theory)Computer scienceScope (computer science)ComputationConsistency (knowledge bases)Measure (data warehouse)Dependency (UML)SingularityMathematicsArtificial intelligenceData miningAlgorithmProgramming languageMathematical analysisRobotPhysicsClassical mechanicsRobotic Mechanisms and DynamicsAdvanced Surface Polishing TechniquesRobot Manipulation and Learning