@inproceedings{6bbbccca0fce41518359e85a4994ae6e,
title = "Design and optimization of a tripod-based hybrid manipulator",
abstract = "In this paper, a novel 3DOF hybrid manipulator 3PU*S-PU is proposed based on the general function (Gf) set theory. After discussing the advantages of this new type of manipulator, the kinematic and Jacobian matrix of this manipulator are first analyzed, then the kinematic performances which include stiffness/compliance and workspace are analyzed and optimized, and the multi-objective optimization on the compliance and workspace is subsequently conducted.",
keywords = "Compliance, Gf set, Multi-objective optimization, Type synthesis",
author = "Dan Zhang and Bin Wei",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2014.; 20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014 ; Conference date: 23-06-2014 Through 26-06-2014",
year = "2014",
doi = "10.1007/978-3-319-07058-2\_10",
language = "English",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "83--91",
editor = "Glazunov, \{Victor A.\} and Marco Ceccarelli",
booktitle = "Advances on Theory and Practice of Robots and Manipulators - Proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators",
address = "Netherlands",
}