A new approach to the architecture optimization of a general 3-PUU translational parallel manipulator

Yangmin Li, Qingsong Xu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

39 Citations (Scopus)

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.
Original languageEnglish
Pages (from-to)59-72
Number of pages14
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume46
Issue number1
DOIs
Publication statusPublished - 11 Sep 2006
Externally publishedYes

Keywords

  • Dexterity
  • Kinematics
  • Optimal design
  • Translational parallel manipulator
  • Workspace

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

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