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

<table>Manipulability index <svg height="12.9125" id="M123" style="vertical-align:-4.15506pt" version="1.1" viewbox="0 0 14.2375 12.9125" width="14.2375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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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="M324 430l-26 -36l-112 -4l-55 -265q-13 -66 7 -66q13 0 44.5 20t50.5 40l17 -24q-38 -40 -85.5 -73.5t-87.5 -33.5q-50 0 -21 138l55 262h-80l-2 8l25 34h66l25 99l78 63l10 -9l-37 -153h128z" id="x1D461"></path></g>
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Journal of Robotics

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Figure 2

Figure 2: Parallel Robot Translational Performance Evaluation through Direction-Selective Index (DSI) 