RESEARCH PAPERS: Mechanisms Papers

The Optimum Kinematic Design of a Planar Three-Degree-of-Freedom Parallel Manipulator

[+] Author and Article Information
C. Gosselin, J. Angeles

Robotic Mechanical Systems Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montréal, Québec, Canada

J. Mech., Trans., and Automation 110(1), 35-41 (Mar 01, 1988) (7 pages) doi:10.1115/1.3258901 History: Received March 27, 1987; Online November 19, 2009


In this paper, the design of a planar three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Four different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a ) symmetry (b ) the existence of a nonvanishing workspace for every orientation of the gripper (c ) the maximization of the global workspace, and (d ) the isotropy of the Jacobian of the manipulator. The four associated problems are formulated and their solutions are derived. Two of these require to resort to numerical methods for nonlinear algebraic systems. Results of optimum designs are also included.

Copyright © 1988 by ASME
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