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Dimensional design of hexaslides for optimal workspace and dexterity

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3 Author(s)
A. B. K. Rao ; Mech. Eng. Dept., Gayatri Vidya Parishad Coll. of Eng., Visakhapatnam, India ; P. V. M. Rao ; S. K. Saha

The paper presents the dimensional design of a class of parallel manipulators, namely, Hexaslides. The design of hexaslides is formulated as a multiobjective optimization problem considering workspace and dexterity as dual objectives. As the relative emphasis on workspace and dexterity varies depending on the application, a set of Pareto-optimal solutions is found. The present analysis is a useful tool for designers to select suitable hexaslide parameters for a given application, particularly, in machine tool applications.

Published in:

IEEE Transactions on Robotics  (Volume:21 ,  Issue: 3 )