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Open AccessFeature PaperArticle

Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators

by Dan Zhang * and Bin Wei
Department of Mechanical Engineering, York University, Toronto, ON M3J 1P3, Canada
*
Author to whom correspondence should be addressed.
Academic Editor: Steven Y. Liang
Machines 2016, 4(4), 24; https://doi.org/10.3390/machines4040024
Received: 20 October 2016 / Revised: 11 December 2016 / Accepted: 13 December 2016 / Published: 16 December 2016
(This article belongs to the Special Issue Robotic Machine Tools)
The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all, the kinematics and Jacobian for the robotic manipulators are determined through different approaches; secondly, objective functions modelling are presented, and the associated optimization issues and the geometric parameters’ effect on the objective functions for the robotic mechanisms are illustrated and analyzed in detail. Through employing several multi-objective optimization approaches, we manifest an overall process and approach for multi-objective optimization of robotic systems. The correlation among different stiffness models is finally presented. The results indicate that the kinetostatic compliance model is the closest one to the traditional stiffness model. View Full-Text
Keywords: kinematics; modelling; optimization; pure translation; pure rotation; mixed motion; parallel mechanism kinematics; modelling; optimization; pure translation; pure rotation; mixed motion; parallel mechanism
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Zhang, D.; Wei, B. Study on the Kinematic Performances and Optimization for Three Types of Parallel Manipulators. Machines 2016, 4, 24.

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