This paper investigates dimensional optimization of a 2-UPR-RPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. Then, three indices developed from motion/force transmission are proposed to evaluate the performance of the 2-UPR-RPU parallel manipulator. Based on the performance atlases obtained, a set of optimal parameters are selected from the optimum region within the parameter design space. Finally, the optimized parameters are determined for practical applications.
Optimal Design of a 2-UPR-RPU Parallel Manipulator
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received October 8, 2014; final manuscript received January 3, 2015; published online February 16, 2015. Assoc. Editor: Oscar Altuzarra.
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Wang, F., Chen, Q., and Li, Q. (May 1, 2015). "Optimal Design of a 2-UPR-RPU Parallel Manipulator." ASME. J. Mech. Des. May 2015; 137(5): 054501. https://doi.org/10.1115/1.4029587
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