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• W2146969189 abstract "Performance of a parallel manipulator heavily relies on its position/orientation resolution. Without a good resolution the manipulator is difficult to achieve a high stiffness. Therefore how to obtain the required resolution is a basic issue to design a parallel manipulator. This paper presents a method to solve the problem. Firstly, the mathematical definition of the position/orientation resolution is given. Then we discuss how to calculate them using Rayleigh quotient. And the design optimization problem is formulated. Fundamental concepts of the method are illustrated through a 3-RRR planar parallel manipulator. The design process to achieve an optimized task space of the required pose resolution is also demonstrated in the example." @default.
• W2146969189 created "2016-06-24" @default.
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• W2146969189 date "2011-05-01" @default.
• W2146969189 modified "2023-09-26" @default.
• W2146969189 title "Design optimization of parallel manipulators with required pose resolution" @default.
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• W2146969189 doi "https://doi.org/10.1109/icra.2011.5980076" @default.
• W2146969189 hasPublicationYear "2011" @default.
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