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Design optimization of parallel manipulators with required pose resolution

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3 Author(s)
Hao Li ; State Key Lab. of Virtual Reality Technol. & Syst., Beihang Univ., Beijing, China ; Yuru Zhang ; Dai, J.S.

Performance of a parallel manipulator heavily relies on its position/orientation resolution. Without a good resolution the manipulator is difficult to achieve a high stiffness. Therefore how to obtain the required resolution is a basic issue to design a parallel manipulator. This paper presents a method to solve the problem. Firstly, the mathematical definition of the position/orientation resolution is given. Then we discuss how to calculate them using Rayleigh quotient. And the design optimization problem is formulated. Fundamental concepts of the method are illustrated through a 3-RRR planar parallel manipulator. The design process to achieve an optimized task space of the required pose resolution is also demonstrated in the example.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011