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

<table>Scatter diagram of DSI <svg height="12.775" id="M233" style="vertical-align:-4.0404pt" version="1.1" viewbox="0 0 18.762501 12.775" width="18.762501" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M538 96q-38 -45 -84 -76.5t-71 -31.5q-44 0 -15 117q12 49 18 89h-2q-99 -128 -163 -178q-36 -28 -70 -28q-26 0 -44 38h-2q-16 -69 -16 -129q0 -43 11 -75.5t24 -42.5l1 -6q-7 -12 -24.5 -23t-37.5 -11q-40 0 -40 76q0 52 35 202l94 407l78 24l5 -5q-32 -122 -72 -310
q-7 -33 0 -55t25 -22q36 0 105.5 75t107.5 145l32 146l75 26h10q-50 -197 -78 -347q-7 -38 6 -38q7 0 31 17t47 39z" id="x1D707"></path></g>
<g transform="matrix(.012,-0,0,-.012,9.5,12.713)"><path d="M698 636l-541 -596q60 -5 176 -5q91 0 138.5 5t69.5 24q44 36 85 124l29 -15q-38 -125 -64 -173h-559l-9 16l545 598h-182q-81 0 -109 -8t-48 -31q-26 -29 -55 -103l-29 3q23 86 42 200h22q11 -16 21 -20.5t34 -4.5h428z" id="x1D44D"></path></g>
</svg> versus velocity along the <svg height="11.6" id="M234" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 12.375 11.6" width="12.375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.537)"><path d="M698 636l-541 -596q60 -5 176 -5q91 0 138.5 5t69.5 24q44 36 85 124l29 -15q-38 -125 -64 -173h-559l-9 16l545 598h-182q-81 0 -109 -8t-48 -31q-26 -29 -55 -103l-29 3q23 86 42 200h22q11 -16 21 -20.5t34 -4.5h428z" id="x1D44D"></path></g>
</svg> direction(vertical half-plane <svg height="11.6" id="M235" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 23.924999 11.6" width="23.924999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.537)"><path d="M667 650l-9 -28q-53 -5 -76 -17t-64 -59q-51 -61 -175 -225q-21 -29 -27 -55l-27 -136q-13 -65 -0.5 -80t83.5 -22l-7 -28h-280l8 28q64 4 81 19t30 83l25 128q6 35 -7 65l-98 231q-17 41 -32.5 52t-68.5 16l8 28h252l-6 -28l-40 -4q-27 -3 -33 -12.5t2 -31.5
q8 -26 43 -107.5t61 -134.5q114 145 174 240q14 24 8 33t-37 13l-34 4l8 28h238z" id="x1D44C"></path></g><g transform="matrix(.017,-0,0,-.017,11.605,11.537)"><path d="M698 636l-541 -596q60 -5 176 -5q91 0 138.5 5t69.5 24q44 36 85 124l29 -15q-38 -125 -64 -173h-559l-9 16l545 598h-182q-81 0 -109 -8t-48 -31q-26 -29 -55 -103l-29 3q23 86 42 200h22q11 -16 21 -20.5t34 -4.5h428z" id="x1D44D"></path></g>
</svg> with <svg height="11.375" id="M236" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 41.174999 11.375" width="41.174999" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g><g transform="matrix(.017,-0,0,-.017,18.234,11.112)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,32.938,11.112)"><path d="M241 635q53 0 94 -28.5t63.5 -76t33.5 -102.5t11 -116q0 -58 -11 -112.5t-34 -103.5t-63.5 -78.5t-94.5 -29.5t-95 28t-64.5 75t-34.5 102.5t-11 118.5q0 58 11.5 112.5t34.5 103t64.5 78t95.5 29.5zM238 602q-32 0 -55.5 -25t-35.5 -68t-17.5 -91t-5.5 -105
q0 -76 10 -138.5t37 -107.5t69 -45q32 0 55.5 25t35.5 68.5t17.5 91.5t5.5 105t-5.5 105.5t-18 92t-36 68t-56.5 24.5z" id="x30"></path></g>
</svg> mm).</table>

Journal of Robotics

fig25

Figure 25

Figure 25: Parallel Robot Translational Performance Evaluation through Direction-Selective Index (DSI) 