Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space

被引：0
|
作者：
Urizar, M. [1 ]
Petuya, V. [1 ]
Diez, M. [1 ]
Hernandez, A. [1 ]
机构：
[1] Univ Basque Country, Fac Engn Bilbao, Dept Mech Engn, Bilbao, Spain
来源：
COMPUTATIONAL KINEMATICS (CK2013) | 2014年 / 15卷
关键词：
Parallel mechanisms; Configuration space; Dimensional synthesis; OPTIMAL-DESIGN; WORKSPACE;
D O I：
10.1007/978-94-007-7214-4_10
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper the authors approach the dimensional synthesis of parallel manipulators focusing on the evaluation of important entities belonging to the configuration space, such as workspace and joint space. In particular, 3-DoF manipulators that can perform non-singular transitions are considered, illustrating the procedure with a case study. The target is to search for designs that achieve the goals of adequate size and shape of the workspace.
引用
收藏
页码：85 / 92
页数：8
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