Kinematic Optimization of Parallel Manipulators with a Desired Workspace
文献类型：会议论文
| 作者 | Zeguo Yang; Minglei Shao; Dongik Shin |
| 出版日期 | 2015 |
| 会议名称 | International conference on applied mechanics and materials |
| 会议地点 | Seoul, Korea |
| 英文摘要 | A kinematic optimization method of parallel manipulators is presented in this paper. A desired workspace for a parallel manipulator is usually an essential requirement in a practical application. Additionally, a good kinematic performance and/or a relatively small physical size would be of great significance. A dexterity index is utilized to measure the kinematic performance of parallel manipulators. A method to define the physical size of a parallel manipulator is introduced. The cost function is then formulated as a linear combination of a dexterity index and a physical size measurement. The Optimization Tool Box of MATLAB is applied to solve the optimization problem. Finally, a general Stewart-Gough platform is taken as an example to specify the design methodology. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/7580]  |
| 专题 | 深圳先进技术研究院_南沙所 |
| 作者单位 | 2015 |
| 推荐引用方式 GB/T 7714 | Zeguo Yang,Minglei Shao,Dongik Shin. Kinematic Optimization of Parallel Manipulators with a Desired Workspace[C]. 见:International conference on applied mechanics and materials. Seoul, Korea. |
入库方式： OAI收割
来源：深圳先进技术研究院
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