DEXTERITY INDICES OF 6-UPS PARALLEL MANIPULATOR

The performance evaluation is one of most important issues in the analysis and design of parallel manipulators. Characteristics such as manipulability and minimum singular value are used to determine the performance of the manipulators. The performance indices are used to eliminate the singularity and it’s near configurations. In this paper 6-UPS spatial parallel manipulator is considered and its performance indices such as condition number, manipulability and minimum singular value are determined for different structures. Based on the performance indices, the optimum configuration of the manipulator is determined. A MATLAB code is developed and used for the analysis. The results are graphically presented.