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A new approach to the architecture optimization of a general 3-PUU translational parallel manipulator
Li Y.; Xu Q.
2006
Source PublicationJournal of Intelligent and Robotic Systems: Theory and Applications
ISSN9210296
Volume46Issue:1Pages:59
Abstract

This paper presents a new approach to the architecture optimization of a general 3-PUU translational parallel manipulator (TPM) based on the performance of a weighted sum of global dexterity index and a new performance index-space utility ratio (SUR). Both the inverse kinematics and forward kinematics solutions are derived in closed form, and the Jacobian matrix is derived analytically. The manipulator workspace is generated by a numerical searching method with the physical constraints taken into consideration. Simulation results illustrate clearly the necessity to introduce a mixed performance index using space utility ratio for architectural optimization of the manipulator, and the optimization procedure is carried out with the goal of reaching a compromise between the two indices. The analytical results are helpful in designing a general 3-PUU TPM, and the proposed design methodology can also be applied to architectural optimization for other types of parallel manipulators.

KeywordDexterity Kinematics Optimal Design Translational Parallel Manipulator Workspace
DOI10.1007/s10846-006-9044-6
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Robotics
WOS SubjectComputer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000240428700004
The Source to ArticleScopus
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Citation statistics
Cited Times [WOS]:28   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macao SAR, China
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Li Y.,Xu Q.. A new approach to the architecture optimization of a general 3-PUU translational parallel manipulator[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2006,46(1):59.
APA Li Y.,&Xu Q..(2006).A new approach to the architecture optimization of a general 3-PUU translational parallel manipulator.Journal of Intelligent and Robotic Systems: Theory and Applications,46(1),59.
MLA Li Y.,et al."A new approach to the architecture optimization of a general 3-PUU translational parallel manipulator".Journal of Intelligent and Robotic Systems: Theory and Applications 46.1(2006):59.
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