Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities
This paper deals with the kinematic synthesis problem of a 3-underlineRRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and ge...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
2012-07-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/2012/MIC-2012-3-3.pdf |