Abstract
In this paper, a novel 3DOF hybrid manipulator 3PU*S-PU is proposed based on the general function (Gf) set theory. After discussing the advantages of this new type of manipulator, the kinematic and Jacobian matrix of this manipulator are first analyzed, then the kinematic performances which include stiffness/compliance and workspace are analyzed and optimized, and the multi-objective optimization on the compliance and workspace is subsequently conducted.
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Acknowledgments
The authors would like to thank the financial support from the Natural Sciences and Engineering Research Council of Canada (NSERC). The corresponding author gratefully acknowledges the financial support from Canada Research Chairs program.
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© 2014 Springer International Publishing Switzerland
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Zhang, D., Wei, B. (2014). Design and Optimization of a Tripod-Based Hybrid Manipulator. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_10
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DOI: https://doi.org/10.1007/978-3-319-07058-2_10
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