کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10326773 | 679581 | 2014 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator](/preview/png/10326773.png)
چکیده انگلیسی
This paper deals with the dynamic modeling and design optimization of a three Degree-of-Freedom spherical parallel manipulator. Using the method of Lagrange multipliers, the equations of motion of the manipulator are derived by considering its motion characteristics, namely, all the components rotating about the center of rotation. Using the derived dynamic model, 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 design optimization of an unlimited-roll spherical parallel manipulator with a main objective to minimize the mechanism mass in order to enhance both kinematic and dynamic performances.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 62, Issue 10, October 2014, Pages 1377-1386
Journal: Robotics and Autonomous Systems - Volume 62, Issue 10, October 2014, Pages 1377-1386
نویسندگان
Guanglei Wu, Stéphane Caro, Shaoping Bai, Jørgen Kepler,