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

Song Lu, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 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 languageEnglish
Title of host publication2014 IEEE International Conference on Information and Automation, ICIA 2014
PublisherIEEE
Pages7-12
Number of pages6
ISBN (Electronic)9781479941001
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, China
Duration: 28 Jul 201430 Jul 2014

Conference

Conference2014 IEEE International Conference on Information and Automation, ICIA 2014
CountryChina
CityHailar, Hulunbuir
Period28/07/1430/07/14

Keywords

  • dexterity
  • dimensional synthesis
  • kinematic analysis
  • Parallel kinematic manipulator

ASJC Scopus subject areas

  • Modelling and Simulation

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