ICRA 2011 Paper Abstract

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Paper WeP202.3

Li, Hao (Beihang University), Zhang, Yuru (Beihang University), Dai, Jian (King's College London, University of London)

Design optimization of parallel manipulators with required pose resolution

Scheduled for presentation during the Regular Sessions "Kinematics of Serial and Parallel Robots" (WeP202), Wednesday, May 11, 2011, 15:55−16:10, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Haptics and Haptic Interfaces, Kinematics, Parallel Robots

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.

 

 

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