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

Figure 20

Manipulability index 𝜇_𝑡 (a), normalized velocity along the 𝑍 direction (b), and DSI 𝜇_𝑍 computed in the vertical half-plane 𝑋𝑍 with 𝑋=100 mm (c).

(a)

(b)

(c)