Abstract
The main objective of this paper is to find a fundamentally sound and robust numerical methodology for synthesizing parallel manipulators for desired workspaces. The constrained optimization formulation presented here is aimed at determining a manipulator design so that a prescribed workspace is fully enclosed, but that the workspace is also well-conditioned with respect to some performance index. The particular manipulator used to illustrate and evaluate the formulation is a simple planar 3-dof parallel manipulator. Solutions to the manipulator design problems are found in an efficient and convincing manner.
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Hay, A.M., Snyman, J.A. (2002). The Optimal Synthesis of Parallel Manipulators for Desired Workspaces. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_36
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DOI: https://doi.org/10.1007/978-94-017-0657-5_36
Publisher Name: Springer, Dordrecht
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