A general approach for optimal kinematic design of 6-DOF parallel manipulators

被引：5
|
作者：
Mehta, Vivek Kumar [1 ]
Dasgupta, Bhaskar [1 ]
机构：
[1] Indian Inst Technol, Dept Mech Engn, Kanpur 208016, Uttar Pradesh, India
来源：
SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES | 2011年 / 36卷 / 06期
关键词：
Parallel manipulator; isotropy; kinematic design; force redundancy;
D O I：
10.1007/s12046-011-0057-x
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a 7-legged redundant parallel manipulator. Two ways of introducing redundancy into the parallel manipulator have been demonstrated and comparison between them has been presented.
引用
收藏
页码：977 / 994
页数：18
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