%0 Journal Article
%T Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities
%A Guanglei Wu
%J Modeling, Identification and Control
%D 2012
%I Norwegian Society of Automatic Control
%R 10.4173/mic.2012.3.3
%X 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 geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped workspace.
%K Spherical parallel manipulator
%K multiobjective optimization
%K Cartesian stiffness matrix
%K dexterity
%U http://www.mic-journal.no/PDF/2012/MIC-2012-3-3.pdf