RESEARCH PAPERS: Mechanisms Papers

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

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

Department of Mechanical Engineering and Robotic Mechanical Systems Laboratory, McGill Research Centre for Intelligent Machines, McGill University, Montréal, Québec, Canada

J. Mech., Trans., and Automation 111(2), 202-207 (Jun 01, 1989) (6 pages) doi:10.1115/1.3258984 History: Received March 01, 1987; Online November 19, 2009


In this paper, the design of a spherical three-degree-of-freedom parallel manipulator is considered from a kinematic viewpoint. Three different design criteria are established and used to produce designs having optimum characteristics. These criteria are (a) symmetry (b) workspace maximization, and (c) isotropy. The associated problems are formulated and their solutions, one of them requiring to resort to a numerical method, are provided. Optimum designs are thereby obtained. A discussion on singularities is also included.

Copyright © 1989 by ASME
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