کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
414186 | 680824 | 2007 | 9 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Optimizing the kinematic chains for a spatial parallel manipulator via searching the desired dexterous workspace Optimizing the kinematic chains for a spatial parallel manipulator via searching the desired dexterous workspace](/preview/png/414186.png)
This paper exploits a new algorithm to optimize the length of the legs of a spatial parallel manipulator for the purpose of obtaining a desired dexterous workspace rather than the whole reachable workspace. With the analysis of the degree of freedom (DoF) of a manipulator, we can select the least number of variables to depict the kinematic constraints of each leg of a manipulator. The optimum parameters can be obtained by searching the extreme values of the objective functions with the given adroit workspace. Example is utilized to demonstrate the significant advantages of this method in the dexterous workspace synthesis. In applications, this method can be widely used to synthesize, optimize and create all kinds of new spatial parallel manipulator with a desired dexterous workspace.
Journal: Robotics and Computer-Integrated Manufacturing - Volume 23, Issue 1, February 2007, Pages 38–46