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“Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities”

Authors: Guanglei Wu,
Affiliation: Aalborg University
Reference: 2012, Vol 33, No 3, pp. 111-121.

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Keywords: Spherical parallel manipulator, multiobjective optimization, Cartesian stiffness matrix, dexterity, Generalized Inertia Ellipsoid

Abstract: This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped workspace.

PDF PDF (575 Kb)        DOI: 10.4173/mic.2012.3.3

DOI forward links to this article:
  [1] Cammarata Alessandro and Sinatra Rosario (2014), doi:10.1016/j.mechmachtheory.2013.10.010
  [2] Guanglei Wu (2014), doi:10.4173/mic.2014.1.2
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  [5] Ebrahim Abedloo, Amir Molaei and Hamid D. Taghirad (2014), doi:10.1109/ICRoM.2014.6990964
  [6] R. Khezrian, E. Abedloo, M. Farhadmanesh and S. A. A. Moosavian (2014), doi:10.1109/ICRoM.2014.6990959
  [7] Guanglei Wu and Ping Zou (2016), doi:10.1016/j.mechmachtheory.2016.07.017
  [8] Yanzhi Zhao, Jinglei Wang, Yachao Cao, Bowen Liang and Tieshi Zhao (2017), doi:10.1016/j.mechmachtheory.2016.10.008
  [9] J. Brinker, B. Corves and Y. Takeda (2018), doi:10.1016/j.mechmachtheory.2017.11.029
  [10] Abdur Rosyid, Bashar El-Khasawneh and Anas Alazzam (2018), doi:10.1017/S0263574718000152
  [11] José-Alfredo Leal-Naranjo, Marco Ceccarelli, Christopher-René Torres-San-Miguel, Luis-Antonio Aguilar-Perez, Guillermo Urriolagoitia-Sosa and Guillermo Urriolagoitia-Calderón (2018), doi:10.1590/1679-78254044
  [12] Jaime Gallardo-Alvarado, Ramon Rodriguez-Castro, Luciano Perez-Gonzalez and Carlos Aguilar-Najera (2018), doi:10.3390/robotics7020029
  [13] J. J. Hernández-Gómez, I. Medina, C. R. Torres-San Miguel, A. Solís-Santomé, C. Couder-Castañeda, J. C. Ortiz-Alemán and J. I. Grageda-Arellano (2018), doi:10.1155/2018/9592623

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  title={{Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities}},
  author={Wu, Guanglei},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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