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• W2153231437 abstract "This paper proposes to optimally design a parallel machine based on multiple criteria. Many criteria, workspace, condition number, accuracy, stiffness, maximum velocity, and maximum force, are considered. The optimal design problem is proposed as to find a set of design parameters such that (a) the Cartesian workspace generated by the resulting manipulator contains a prescribed workspace; (b) the resulting manipulator possesses a good condition number at each points in the prescribed workspace; (c) the resulting manipulator possesses good performance on accuracy, stiffness, velocity/force transmission factor. By some manipulations, the requirements on the latter four criteria are reduced to constraints on singular values of the kinematic Jacobian. A trade-off must be made since there're opposite requirements among those four criteria. The singular values of kinematic Jacobian are limited in a given interval to guarantee good properties. All the requirement are finally reduced to polynomial inequalities with respect to design parameters. The optimal design problem is transformed into a Max-Det optimization problem that can be ef ficiently solved. The Orthoglide is used as an example to demonstrate the procedure." @default.
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• W2153231437 date "2006-01-18" @default.
• W2153231437 modified "2023-09-24" @default.
• W2153231437 title "Optimal Design of a Parallel Machine Based on Multiple Criteria" @default.
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• W2153231437 doi "https://doi.org/10.1109/robot.2005.1570606" @default.
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