Research Article | OPEN ACCESS
Study of Automatic Fiber Placement Manipulator's Robotic Kinematics Manipulability Based on Volume Element
Ge Xinfeng and Li Ruihua
Department of Electrical and Information Engineering, Xuchang University, Xuchang, 461000, China
Research Journal of Applied Sciences, Engineering and Technology 2013 6:2221-2224
Received: August 15, 2012 | Accepted: September 08, 2012 | Published: February 21, 2013
Abstract
The method is proposed based on volume element in order to measure the manipulator’s robotic kinematics manipulability. Then studied the series redundant automatic fiber placement robotic manipulator’s operation space, draw the conclusion that the greater of the robotic manipulator’s operation space volume, the better of the robotic manipulator’s manipulability, volume element based on redundant robotic manipulator’s kinematics is proposed as an operational performance index. n-DOF serial robotic manipulator’s 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 manipulator’s 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.
Keywords:
Exterior product, manipulability, riemannian manifold, volume element,
Competing interests
The authors have no competing interests.
Open Access Policy
This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
Copyright
The authors have no competing interests.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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