Dexterity Optimization of a Three Degrees of Freedom DELTA Parallel Manipulator

  • Vitor Gaspar Silva
  • Mahmoud Tavakoli
  • Lino Marques
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 253)


This paper demonstrates dexterity optimization of a Delta-like three degrees of freedom (3 DOF) spatial parallel manipulator. The parallel manipulator consists of three identical chains and is able to move on all three translational axes. In order to optimize the manipulator in term of dexterity, a Genetic Algorithm (GA) global search method was applied. This algorithm aims to propose the best design parameters such as the length of the links which results in a better dexterity. Results of the optimization are presented.


Parallel Manipulator Global Search Method Delta Robot Workspace Volume Manipulator Workspace 
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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Vitor Gaspar Silva
    • 1
  • Mahmoud Tavakoli
    • 1
  • Lino Marques
    • 1
  1. 1.Department of Electrical and Computer Engineering, Institute of Systems and RoboticsUniversity of CoimbraCoimbraPortugal

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