Dimensionally Homogeneous Jacobian Using Extended Selection Matrix for Performance Evaluation and Optimization of Parallel Manipulators

This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely on performance indices obtained from the Jacobian matrix. However, when manipulators exhibit mixed translational and rotational freedoms, the conventional Jacobian's inconsistency of units lead to unbalanced optimal result. Addressing this issue, a point-based dimensionally homogeneous Jacobian has appeared as a prominent solution. However, existing point-based approaches for formulating dimensionally homogeneous Jacobian are applicable to a limited variety of parallel manipulators. Moreover, they are complicated and less intuitive. This paper introduces an extended selection matrix that combines component velocities from different points to describe the entire motion of moving plate. This proposed approach enables us to formulate an intuitive point-based, dimensionally homogeneous Jacobian, which can be applied to a wide variety of constrained parallel manipulators. To prove the validity of proposed method, a numerical example is provided utilizing a four-degree-of-freedom parallel manipulator.