Dexterity Optimization of a Three Degrees of Freedom DELTA Parallel Manipulator
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.
KeywordsParallel Manipulator Global Search Method Delta Robot Workspace Volume Manipulator Workspace
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