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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Optimal Design of a 2-UPR-RPU Parallel Manipulator



    Published in:

    Publication date :

    2015




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    50.15 Konstruktionslehre / 52.15 Maschinenelemente, Maschinenbaugruppen / 52.20 Antriebstechnik, Getriebelehre
    Local classification TIB:    770/5315/5330




    TRANSLATIONAL PARALLEL MANIPULATOR

    CHEN CHAO / GRANLAND KEENAN | European Patent Office | 2019

    Free access


    Optimal Design of a 6-DOF 4-4 Parallel Manipulator with Uncoupled Singularities

    Borràs, Julia / Ottaviano, Erika / Ceccarelli, Marco et al. | BASE | 2008

    Free access