Randomized Optimal Design of Parallel Manipulators

  title={Randomized Optimal Design of Parallel Manipulators},
  author={Yunjiang Lou and Guanfeng Liu and Zexiang Li},
  journal={IEEE Transactions on Automation Science and Engineering},
This work intends to deal with the optimal kinematic synthesis problem of parallel manipulators under a unified framework. Observing that regular (e.g., hyper-rectangular) workspaces are desirable for most machines, we propose the concept of effective regular workspace, which reflects simultaneously requirements on the workspace shape and quality. The effectiveness of a workspace is characterized by the dexterity of the mechanism over every point in the workspace. Other performance indices… CONTINUE READING
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