Abstract
An optimal kinematic design method suited for parallel manipulators is developed. The kinematic optimization process yields a design, which delivers the best compromise between manipulability and a new performance index, space utilization. It is shown that the exhaustive search minimization algorithm is effective for as many as four independent design variables and presents a viable alternative to advanced non-linear programming methods. The manipulability generally exhibits relatively little variation when compared to space utilization. The tendency exists for the solution to converge on a zero workspace size architecture when manipulability is optimized alone. The inclusion of the space utilization index in the cost function is crucial for obtaining realistic design candidates.
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© 2002 Springer-Verlag Wien
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Stock, M., Miller, K. (2002). Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size. In: Bianchi, G., Guinot, JC., Rzymkowski, C. (eds) Romansy 14. International Centre for Mechanical Sciences, vol 438. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2552-6_42
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DOI: https://doi.org/10.1007/978-3-7091-2552-6_42
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