Abstract
One difficulty for designing parallel robots is that their performances are heavily dependent upon the geometry of the robot. We present a method for designing optimal parallel manipulators of the Gough platform type, according to design constraints like a specified workspace, best accuracy over the workspace, minimum articular forces for a given load, etc…. We show how the method has been used to design robots with high accuracy and high nominal load.
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© 1997 Springer Science+Business Media Dordrecht
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Merlet, JP. (1997). Workspace-Oriented Methodology for Designing a Parallel Manipulator. In: Chedmail, P., Bocquet, JC., Dornfeld, D. (eds) Integrated Design and Manufacturing in Mechanical Engineering. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-5588-5_22
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DOI: https://doi.org/10.1007/978-94-011-5588-5_22
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