Dimensional synthesis of a 3-DOF translational parallel manipulator considering kinematic dexterity property

Song Lu; Yangmin Li

doi:10.1109/ICInfA.2014.6932617

Dimensional synthesis of a 3-DOF translational parallel manipulator considering kinematic dexterity property

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

6 Citations (Scopus)

Abstract

This paper presents a method for dimensional synthesis of a three degree-of-freedom three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) considering the kinematic dexterity property at the same time. A mixed comprehensive dexterity index (CDI) making a compromise between the condition number of Jacobian matrix and the manipulability within a desired cylindrical workspace is introduced. The architecture parameters of the 3-PUU TPM are optimized by employing sequential quadratic programming (SQP) algorithm subject to a set of appropriate constraints. The comparison between the optimized architecture and initial architecture illustrates that the comprehensive dexterity performance of the structure with optimized parameters is better than the initial structure without optimization.

Original language	English
Title of host publication	2014 IEEE International Conference on Information and Automation, ICIA 2014
Publisher	IEEE
Pages	7-12
Number of pages	6
ISBN (Electronic)	9781479941001
DOIs	https://doi.org/10.1109/ICInfA.2014.6932617
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, China Duration: 28 Jul 2014 → 30 Jul 2014

Conference

Conference	2014 IEEE International Conference on Information and Automation, ICIA 2014
Country/Territory	China
City	Hailar, Hulunbuir
Period	28/07/14 → 30/07/14

Keywords

dexterity
dimensional synthesis
kinematic analysis
Parallel kinematic manipulator

ASJC Scopus subject areas

Modelling and Simulation

More information

10.1109/ICInfA.2014.6932617

Cite this

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title = "Dimensional synthesis of a 3-DOF translational parallel manipulator considering kinematic dexterity property",

abstract = "This paper presents a method for dimensional synthesis of a three degree-of-freedom three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) considering the kinematic dexterity property at the same time. A mixed comprehensive dexterity index (CDI) making a compromise between the condition number of Jacobian matrix and the manipulability within a desired cylindrical workspace is introduced. The architecture parameters of the 3-PUU TPM are optimized by employing sequential quadratic programming (SQP) algorithm subject to a set of appropriate constraints. The comparison between the optimized architecture and initial architecture illustrates that the comprehensive dexterity performance of the structure with optimized parameters is better than the initial structure without optimization.",

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Lu, S & Li, Y 2014, Dimensional synthesis of a 3-DOF translational parallel manipulator considering kinematic dexterity property. in 2014 IEEE International Conference on Information and Automation, ICIA 2014., 6932617, IEEE, pp. 7-12, 2014 IEEE International Conference on Information and Automation, ICIA 2014, Hailar, Hulunbuir, China, 28/07/14. https://doi.org/10.1109/ICInfA.2014.6932617

Dimensional synthesis of a 3-DOF translational parallel manipulator considering kinematic dexterity property. / Lu, Song; Li, Yangmin.
2014 IEEE International Conference on Information and Automation, ICIA 2014. IEEE, 2014. p. 7-12 6932617.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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AB - This paper presents a method for dimensional synthesis of a three degree-of-freedom three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) considering the kinematic dexterity property at the same time. A mixed comprehensive dexterity index (CDI) making a compromise between the condition number of Jacobian matrix and the manipulability within a desired cylindrical workspace is introduced. The architecture parameters of the 3-PUU TPM are optimized by employing sequential quadratic programming (SQP) algorithm subject to a set of appropriate constraints. The comparison between the optimized architecture and initial architecture illustrates that the comprehensive dexterity performance of the structure with optimized parameters is better than the initial structure without optimization.

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Dimensional synthesis of a 3-DOF translational parallel manipulator considering kinematic dexterity property

Abstract

Conference

Keywords

ASJC Scopus subject areas

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