Parallel Robot Translational Performance Evaluation through Direction-Selective Index (DSI)

Figure 17

Manipulability index 𝜇_𝑡 (a), normalized velocity along the 𝑋 direction (b), and DSI 𝜇_𝑋 computed in the horizontal half-plane 𝑋𝑌 with 𝑍=−900 mm (c).

(a)

(b)

(c)