Abstract
In this work, a parameterized model of 3-RRR
planar parallel manipulator is proposed, aiming to optimize the
kinematic performance with optimum shapes and sizes of the
base and mobile platforms. In the model the inverse and direct
kinematics are addressed, upon which the global kinematic performance in terms of dexterity index is calculated and analyzed.
These analyses reveal the sensitivity of overall performance to
the dimensional and shape parameters of 3-RRR planar parallel
manipulator. Optimal configurations are obtained from the global
conditioning index atlas.
planar parallel manipulator is proposed, aiming to optimize the
kinematic performance with optimum shapes and sizes of the
base and mobile platforms. In the model the inverse and direct
kinematics are addressed, upon which the global kinematic performance in terms of dexterity index is calculated and analyzed.
These analyses reveal the sensitivity of overall performance to
the dimensional and shape parameters of 3-RRR planar parallel
manipulator. Optimal configurations are obtained from the global
conditioning index atlas.
| Original language | English |
|---|---|
| Title of host publication | International Conference on Mechatronics and Automation (ICMA) |
| Number of pages | 6 |
| Publisher | IEEE |
| Publication date | 2019 |
| Pages | 2206-2211 |
| Article number | 8816614 |
| ISBN (Print) | 978-1-7281-1698-3 |
| ISBN (Electronic) | 978-1-7281-1699-0 |
| DOIs | |
| Publication status | Published - 2019 |
| Event | ICMA 2019 - International Conference on Mechatronics and Automation - , China Duration: 4 Aug 2019 → 8 Aug 2019 |
Conference
| Conference | ICMA 2019 - International Conference on Mechatronics and Automation |
|---|---|
| Country/Territory | China |
| Period | 04/08/2019 → 08/08/2019 |
| Series | IEEE International Conference on Mechatronics and Automation (ICMA) |
|---|---|
| ISSN | 2152-744X |