Optimal design of a redundantly actuated 4-legged six degree of freedom parallel manipulator using composite design index |
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Authors: | Byung-Ju Yi Whee-Kuk Kim |
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Affiliation: | 1. Department of Mechanical Engineering, Korea Institute of Technology and Education, Cheon An, P. O. Box 55, 330-600, Chung Nam, Korea 2. Department of Control and Instrumentation Engineering, Korea University, Seo-Chang Dong, Chochiwon Eup, Yonki Kun, Chung Nam, Korea
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Abstract: | This work attempts to develop a procedure for the optimal design of a redundantly actuated six degree of freedom parallel manipulator. A concept of composite design index is developed to deal with multi-criteria based design in a systematic manner, and this index is employed to obtain a set of optimal dimensions for this manipulator. Two different designs are investigated, and they are compared in terms of their local characteristics. Finally, the fault-tolerant capability afforded by redundant actuation is evaluated in terms of partial actuator failures. |
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Keywords: | Composite Design Index Redundant Actuation Multi-Criteria Based Design Parallel Manipulator Fault Tolerant |
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