A general approach for optimal kinematic design of 6-DOF parallel manipulators

被引：0
|
作者：
VIVEK KUMAR MEHTA
BHASKAR DASGUPTA
机构：
[1] Indian Institute of Technology,Department of Mechanical Engineering
来源：
Sadhana | 2011年 / 36卷
关键词：
Parallel manipulator; isotropy; kinematic design; force redundancy;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a 7-legged redundant parallel manipulator. Two ways of introducing redundancy into the parallel manipulator have been demonstrated and comparison between them has been presented.
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页码：977 / 994
页数：17
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