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Multiobjective Design Optimization of 3–PRR Planar Parallel Manipulators

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Abstract

This chapter addresses the dimensional synthesis of parallel kinematics machines. A multiobjective optimization problem is proposed in order to determine optimum structural and geometric parameters of parallel manipulators. The proposed approach is applied to the optimum design of a three-degree-of-freedom planar parallel manipulator in order to minimize the mass of the mechanism in motion and to maximize its regular shaped workspace.

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Authors and Affiliations

  1. Ecole Centrale de Nantes, IRCCyN UMR CNRS 6597, 1 rue de la Noë, BP 92101, 44321, Nantes Cedex 3, France

    S. Caro, D. Chablat, R. Ur-Rehman & P. Wenger

  2. Institut de Recherches en Communications et Cybernetique de Nantes, 44321, Nantes, France

    D. Chablat

Authors
  1. S. Caro
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  2. D. Chablat
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  3. R. Ur-Rehman
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  4. P. Wenger
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Corresponding author

Correspondence to S. Caro .

Editor information

Editors and Affiliations

  1. , IRCCyN UMR CNRS 6597, Ecole Centrale de Nantes, rue de la Noë 1, Nantes Cedex 3, 44321, France

    Alain Bernard

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© 2011 Springer-Verlag Berlin Heidelberg

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Caro, S., Chablat, D., Ur-Rehman, R., Wenger, P. (2011). Multiobjective Design Optimization of 3–PRR Planar Parallel Manipulators. In: Bernard, A. (eds) Global Product Development. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15973-2_37

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  • DOI: https://doi.org/10.1007/978-3-642-15973-2_37

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15972-5

  • Online ISBN: 978-3-642-15973-2

  • eBook Packages: EngineeringEngineering (R0)

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