Optimal Kinematic Design for a General 3-PRS Spatial Parallel Manipulator Based on Dexterity and Workspace

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Status	已發表Published
	Optimal Kinematic Design for a General 3-PRS Spatial Parallel Manipulator Based on Dexterity and Workspace
	Li, Y. M.; Xu, Q.
	2004-10-01
Source Publication	Proceedings of the 11th International Conference on Machine Design and Production (UMTIK 2004)
Abstract	Optimal design of parallel robots is a crucial step ahead of manufacture and application. An optimal kinematic design for a general type of 3-PRS parallel manipulator is conducted in consideration of the performance of a weighted sum of global dexterity index and a space utility ratio - a new performance index. The Jacobian matrix is derived analytically and the manipulator workspace is generated by a numerical search method. Simulation results illustrate the necessity to introduce a mixed performance index using the space utility ratio for kinematic optimization of the manipulator, and the optimization process is carried out with the goal of reaching a compromise between the two indices. The analytical results are helpful in designing a general 3-PRS parallel manipulator, and the proposed design methodology can also be applied to architectural optimization of other types of parallel manipulators.
Keyword	Parallel Manipulator Dexterity Workspace Optimal Design
Language	英語English
The Source to Article	PB_Publication
PUB ID	36412
Document Type	Conference paper
Collection	DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Recommended Citation GB/T 7714	Li, Y. M.,Xu, Q.. Optimal Kinematic Design for a General 3-PRS Spatial Parallel Manipulator Based on Dexterity and Workspace[C], 2004.
APA	Li, Y. M.., & Xu, Q. (2004). Optimal Kinematic Design for a General 3-PRS Spatial Parallel Manipulator Based on Dexterity and Workspace. Proceedings of the 11th International Conference on Machine Design and Production (UMTIK 2004).

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