کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5018725 | 1467715 | 2018 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Kinematic analysis and multi-objective optimization of a 3-UPR parallel mechanism for a robotic leg
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this paper, a parallel mechanism with 3-UPR architecture for a robotic leg application is analyzed for design purposes. The proposed morphology is characterized by the convergence of the three chains to a single point of the moving platform. First, the mechanism is described and its inverse and forward kinematic problems are solved analytically. Its Jacobian matrix is computed to evaluate the singular positions of the end-effector. Then, workspace volume, manipulator dexterity, static efficiency and stiffness are chosen as objective functions for a multi-objective optimization in order to decide the geometrical parameters of the mechanism. The objective functions are mapped in the parameter space and an optimal solution is discussed as suitable for a future prototype.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 120, February 2018, Pages 192-202
Journal: Mechanism and Machine Theory - Volume 120, February 2018, Pages 192-202
نویسندگان
Matteo Russo, Saioa Herrero, Oscar Altuzarra, Marco Ceccarelli,