Dimensional synthesis of a 3-DOF translational parallel manipulator considering kinematic dexterity property

This paper presents a method for dimensional synthesis of a three degree-of-freedom three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) considering the kinematic dexterity property at the same time. A mixed comprehensive dexterity index (CDI) making a compromise betw...

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Veröffentlicht in:2014 IEEE International Conference on Information and Automation (ICIA) S. 7 - 12
Hauptverfasser: Song Lu, Yangmin Li
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 01.07.2014
Schlagworte:
dexterity
dimensional synthesis
Indexes
Jacobian matrices
kinematic analysis
Kinematics
Manipulators
Optimization
Parallel kinematic manipulator
Printing
Vectors
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Zusammenfassung:This paper presents a method for dimensional synthesis of a three degree-of-freedom three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) considering the kinematic dexterity property at the same time. A mixed comprehensive dexterity index (CDI) making a compromise between the condition number of Jacobian matrix and the manipulability within a desired cylindrical workspace is introduced. The architecture parameters of the 3-PUU TPM are optimized by employing sequential quadratic programming (SQP) algorithm subject to a set of appropriate constraints. The comparison between the optimized architecture and initial architecture illustrates that the comprehensive dexterity performance of the structure with optimized parameters is better than the initial structure without optimization.
DOI:10.1109/ICInfA.2014.6932617