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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
  [3] Guanglei Wu (2014), doi:10.1155/2014/296250
  [4] Guanglei Wu, Stéphane Caro and Jiawei Wang (2015), doi:10.1016/j.mechmachtheory.2015.07.012
  [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

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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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