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A New Approach to the Architecture Optimization of a General 3-PUU Translational Parallel Manipulator

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Abstract

This paper presents a new approach to the architecture optimization of a general 3-PUU translational parallel manipulator (TPM) based on the performance of a weighted sum of global dexterity index and a new performance index-space utility ratio (SUR). Both the inverse kinematics and forward kinematics solutions are derived in closed form, and the Jacobian matrix is derived analytically. The manipulator workspace is generated by a numerical searching method with the physical constraints taken into consideration. Simulation results illustrate clearly the necessity to introduce a mixed performance index using space utility ratio for architectural optimization of the manipulator, and the optimization procedure is carried out with the goal of reaching a compromise between the two indices. The analytical results are helpful in designing a general 3-PUU TPM, and the proposed design methodology can also be applied to architectural optimization for other types of parallel manipulators.

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Authors and Affiliations

  1. Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macao, S. A. R., People's Republic of China

    Yangmin Li & Qingsong Xu

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  1. Yangmin Li
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  2. Qingsong Xu
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Correspondence to Yangmin Li.

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Li, Y., Xu, Q. A New Approach to the Architecture Optimization of a General 3-PUU Translational Parallel Manipulator. J Intell Robot Syst 46, 59–72 (2006). https://doi.org/10.1007/s10846-006-9044-6

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  • DOI: https://doi.org/10.1007/s10846-006-9044-6

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