Optimizing the kinematic chains for a spatial parallel manipulator via searching the desired dexterous workspace

Authors:
Jing-Shan Zhao;Sheng-Lan Zhang;Jing-Xin Dong;Zhi-Jing Feng;Kai Zhou
Affiliations:
Department of Precision Instruments, Tsinghua University, Beijing 100084, PR China;Department of Automobile Engineering, Hubei Automotive Industries Institute, Shiyan, Hubei Province 442002, PR China;Department of Precision Instruments, Tsinghua University, Beijing 100084, PR China;Department of Precision Instruments, Tsinghua University, Beijing 100084, PR China;Department of Precision Instruments, Tsinghua University, Beijing 100084, PR China
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2007

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Abstract

This paper exploits a new algorithm to optimize the length of the legs of a spatial parallel manipulator for the purpose of obtaining a desired dexterous workspace rather than the whole reachable workspace. With the analysis of the degree of freedom (DoF) of a manipulator, we can select the least number of variables to depict the kinematic constraints of each leg of a manipulator. The optimum parameters can be obtained by searching the extreme values of the objective functions with the given adroit workspace. Example is utilized to demonstrate the significant advantages of this method in the dexterous workspace synthesis. In applications, this method can be widely used to synthesize, optimize and create all kinds of new spatial parallel manipulator with a desired dexterous workspace.