Dimensional Synthesis of a Spatial Orientation 3-DoF Parallel Manipulator by Characterizing the Configuration Space
In this paper the authors approach the dimensional synthesis of parallel manipulators focusing on the evaluation of important entities belonging to the configuration space, such as workspace and joint space. In particular, 3-DoF manipulators that can perform non-singular transitions are considered, illustrating the procedure with a case study. The target is to search for designs that achieve the goals of adequate size and shape of the workspace.
KeywordsParallel mechanisms Configuration space Dimensional synthesis
The authors wish to acknowledge the financial support received from Ministerio de Economía y Competitividad (Project DPI2011- 22955), the European Union (Project FP7-CIP-ICT-PSP-2009-3) and Basque Government, Dpto. Educ., Univ. e Investig. (Project IT445-10) and UPV/EHU under program UFI 11/29.
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