کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
803345 | 904634 | 2010 | 12 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Optimum design of spherical parallel manipulators for a prescribed workspace
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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
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چکیده انگلیسی
The optimum design of spherical parallel manipulators (SPM) is studied for a prescribed workspace. A numerical method is developed to find optimal design parameters including link dimensions and architecture parameters for a maximum dexterity. In the method, the objective function is formulated in such a way that the optimal problem is converted to a nonlinear least squares problem, which can be readily solved. Moreover, the problem of design space is addressed. A system of inequalities in terms of link dimensions is derived to describe the design space for feasible SPMs. Examples are included to illustrate the application of the method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 45, Issue 2, February 2010, Pages 200–211
Journal: Mechanism and Machine Theory - Volume 45, Issue 2, February 2010, Pages 200–211
نویسندگان
Shaoping Bai,