期刊
MECHANISM AND MACHINE THEORY
卷 120, 期 -, 页码 192-202出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2017.10.004
关键词
Parallel manipulator; Multi-objective optimization; Mechanism design; Kinematics; Robotic leg
In this paper, a parallel mechanism with 3-UPR architecture for a robotic leg application is analyzed for design purposes. The proposed morphology is characterized by the convergence of the three chains to a single point of the moving platform. First, the mechanism is described and its inverse and forward kinematic problems are solved analytically. Its Jacobian matrix is computed to evaluate the singular positions of the end-effector. Then, workspace volume, manipulator dexterity, static efficiency and stiffness are chosen as objective functions for a multi-objective optimization in order to decide the geometrical parameters of the mechanism. The objective functions are mapped in the parameter space and an optimal solution is discussed as suitable for a future prototype. (C) 2017 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据