Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Optimization of a three DOF translational platform for well-conditioned workspace

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
3 Author(s)
Stamper, R.E. ; Dept. of Mech. Eng., Maryland Univ., College Park, MD, USA ; Tsai, L.-W. ; Walsh, G.C.

Two optimization studies on the design of a three degree of freedom translational parallel platform are conducted and the results are compared. The objective function of the first study maximizes total volume of the manipulator workspace without regard to the quality of the workspace. The second study optimizes the total volume of well conditioned workspace by maximizing a global condition index. The global condition index is a function of the condition number of the Jacobian matrix, providing a means of measuring the amplification error between the actuators and the end effector. Both objective functions involve an integration over the workspace of the manipulator. This integral is approximated using the Monte Carlo method

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997