A New Stiffness Performance Index: Volumetric Isotropy Index

Abstract

A new index for a precise calculation of a manipulator’s stiffness isotropy is introduced. The proposed index is compared with the conventionally used stiffness isotropy index by making use of the investigation on R-CUBE manipulator. The proposed index is shown to produce relatively more precise results from which a higher number of isotropic poses are detected.

Keywords

• stiffness modelling
• performance indices
• condition number
• volumetric isotropy index
• parallel manipulator