Optimizing the kinematic chains for a spatial parallel manipulator via searching the desired dexterous workspace |
| |
Authors: | Jing-Shan Zhao Sheng-Lan Zhang Jing-Xin Dong Zhi-Jing Feng Kai Zhou |
| |
Affiliation: | aDepartment of Precision Instruments, Tsinghua University, Beijing 100084, PR China;bDepartment of Automobile Engineering, Hubei Automotive Industries Institute, Shiyan, Hubei Province 442002, PR China |
| |
Abstract: | This paper exploits a new algorithm to optimize the length of the legs of a spatial parallel manipulator for the purpose of obtaining a desired dexterous workspace rather than the whole reachable workspace. With the analysis of the degree of freedom (DoF) of a manipulator, we can select the least number of variables to depict the kinematic constraints of each leg of a manipulator. The optimum parameters can be obtained by searching the extreme values of the objective functions with the given adroit workspace. Example is utilized to demonstrate the significant advantages of this method in the dexterous workspace synthesis. In applications, this method can be widely used to synthesize, optimize and create all kinds of new spatial parallel manipulator with a desired dexterous workspace. |
| |
Keywords: | Dexterous workspace Algorithm Optimize Spatial parallel manipulator Kinematic chain Degree of freedom |
本文献已被 ScienceDirect 等数据库收录! |