OPTIMIZATION OF ARCHITECTURE AND WORKSPACE OF A PLANAR 3-DOF PARALLEL MANIPULATOR

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EBRAHIMI MOGHADDAM I.; BAHRAMI MOHSEN

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Journal Paper

Paper Information

Journal: IRANIAN JOURNAL OF MECHANICAL ENGINEERING (ENGLISH) Year:2004 | Volume:5 | Issue:1 Page(s): 16-27

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Information Journal Paper

Title

OPTIMIZATION OF ARCHITECTURE AND WORKSPACE OF A PLANAR 3-DOF PARALLEL MANIPULATOR

Author(s)

EBRAHIMI MOGHADDAM I. | BAHRAMI MOHSEN | Issue Writer Certificate

Keywords

ARCHITECTURE

WORKSPACE

OPTIMIZATION

3-DOF PLANAR PARALLEL MANIPULATORS

Abstract

This paper presents a new ARCHITECTURE design for planar parallel manipulators, which helps greatly to increase their maneuverability and enlarging their WORKSPACE. In many cases it is very difficult to express interlace of links as constraint and it is an obstacle, which doesn"t let the computations for kinematics, or WORKSPACE is the same as in practical case. This new architectural design makes this wish comes true for computation and practical cases. To show how it works, a 3-DOF planar parallel manipulator is selected. In the mechanism, the prismatic actuators are fixed to the base which leads to a reduction of the moving links inertia, hence makes it attractive, particularly when high speeds are required and electric actuation is considered. First, the mechanism is introduced; then a new design is introduced based on the geometry of the manipulator to increase flexibility and accessibility. Finally a WORKSPACE analysis is performed. OPTIMIZATION of WORKSPACE is considered with 3 different methods: Monte Carlo, Exact Method (introduced for the first time) and Global Condition Index. Then the results are compared.

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APA: Copy

EBRAHIMI MOGHADDAM, I., & BAHRAMI, MOHSEN. (2004). OPTIMIZATION OF ARCHITECTURE AND WORKSPACE OF A PLANAR 3-DOF PARALLEL MANIPULATOR . JOURNAL OF MECHANICAL ENGINEERING (ISME) (IRANIAN JOURNAL OF MECHANICAL ENGINEERING-ENGLISH), 5(1), 16-27. SID. https://sid.ir/paper/529925/en

Vancouver: Copy

EBRAHIMI MOGHADDAM I., BAHRAMI MOHSEN. OPTIMIZATION OF ARCHITECTURE AND WORKSPACE OF A PLANAR 3-DOF PARALLEL MANIPULATOR . JOURNAL OF MECHANICAL ENGINEERING (ISME) (IRANIAN JOURNAL OF MECHANICAL ENGINEERING-ENGLISH)[Internet]. 2004;5(1):16-27. Available from: https://sid.ir/paper/529925/en

IEEE: Copy

I. EBRAHIMI MOGHADDAM, and MOHSEN BAHRAMI, “OPTIMIZATION OF ARCHITECTURE AND WORKSPACE OF A PLANAR 3-DOF PARALLEL MANIPULATOR ,” JOURNAL OF MECHANICAL ENGINEERING (ISME) (IRANIAN JOURNAL OF MECHANICAL ENGINEERING-ENGLISH), vol. 5, no. 1, pp. 16–27, 2004, [Online]. Available: https://sid.ir/paper/529925/en

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