An Interval Analysis Based Study for the Design and the Comparison of Three-Degrees-of-Freedom Parallel Kinematic Machines

@article{Chablat2004AnIA,
  title={An Interval Analysis Based Study for the Design and the Comparison of Three-Degrees-of-Freedom Parallel Kinematic Machines},
  author={Damien Chablat and Philippe Wenger and F{\'e}lix Majou and Jean-Pierre Merlet},
  journal={I. J. Robotics Res.},
  year={2004},
  volume={23},
  pages={615-624}
}
This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (3-DoF) parallel kinematic machines. Two design criteria are used: (i) a regular workspace shape and (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account; on the basis of prescribed kinetostatic performances, the workspace is analyzed to… CONTINUE READING
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