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2013 (Vol. 5, Issue: 06)
Article Information:

Study of Automatic Fiber Placement Manipulatorís Robotic Kinematics Manipulability Based on Volume Element

Ge Xinfeng and Li Ruihua
Corresponding Author:  Ge Xinfeng 

Key words:  Exterior product, manipulability, riemannian manifold, volume element, , ,
Vol. 5 , (06): 2221-2224
Submitted Accepted Published
August 15, 2012 September 08, 2012 February 21, 2013

The method is proposed based on volume element in order to measure the manipulatorís robotic kinematics manipulability. Then studied the series redundant automatic fiber placement robotic manipulatorís operation space, draw the conclusion that the greater of the robotic manipulatorís operation space volume, the better of the robotic manipulatorís manipulability, volume element based on redundant robotic manipulatorís kinematics is proposed as an operational performance index. n-DOF serial robotic manipulatorís operation space is n-dimensional Riemannian manifold, the n-dimensional Riemannian manifold volume is calculated using the moving coordinate system and the exterior product definition in differential geometry and get the robotic manipulatorís operation space volume then compared the obtained results with the operation space volume using inner product determinant in the literature, it shows that the volume element as a kinematics operational performance index is feasible.
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  Cite this Reference:
Ge Xinfeng and Li Ruihua, 2013. Study of Automatic Fiber Placement Manipulatorís Robotic Kinematics Manipulability Based on Volume Element.  Research Journal of Applied Sciences, Engineering and Technology, 5(06): 2221-2224.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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