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Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic DexteritiesDOI: 10.4173/mic.2012.3.3 Keywords: Spherical parallel manipulator , multiobjective optimization , Cartesian stiffness matrix , dexterity Abstract: 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.
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