Optimal Design of a 2-UPR-RPU Parallel Manipulator
Keyword(s):
This paper investigates dimensional optimization of a 2-UPR-RPU parallel manipulator (where U is a universal joint, P a prismatic pair, and R a revolute pair). First, the kinematics and screws of the mechanism are analyzed. Then, three indices developed from motion/force transmission are proposed to evaluate the performance of the 2-UPR-RPU parallel manipulator. Based on the performance atlases obtained, a set of optimal parameters are selected from the optimum region within the parameter design space. Finally, the optimized parameters are determined for practical applications.
2018 ◽
Vol 233
(7)
◽
pp. 2491-2501
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2018 ◽
Vol 233
(9)
◽
pp. 2976-2990
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Keyword(s):