“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.

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

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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}