TY - GEN
T1 - Optimization of the workspace of a 3R planar parallel manipulator
AU - Abo Shanab, R. F.
PY - 2010
Y1 - 2010
N2 - This paper presents a fast and reliable method to optimize the workspace of a 3R planar parallel manipulator. The ratio between the lengths of the first two links of each limb of a 3R parallel manipulator is changed whereas the other parameters and the outer boundary of the whole manipulator are kept the same during the optimization process. In this method, first, enough number (not necessarily very large) of points is generated in the workspace and then techniques of computational geometry are applied to determine the boundary of the workspace. The modified gift wrapper algorithm is used to determine the boundary. It is shown that, for a given mechanism, increasing the ratio of the length of the second link relative to the length of the first link increases the workspace. However, at certain value, gaps start to appear within the workspace which mean discontinuity in the workspace. Increasing the ratio, the workspace becomes separated regions.
AB - This paper presents a fast and reliable method to optimize the workspace of a 3R planar parallel manipulator. The ratio between the lengths of the first two links of each limb of a 3R parallel manipulator is changed whereas the other parameters and the outer boundary of the whole manipulator are kept the same during the optimization process. In this method, first, enough number (not necessarily very large) of points is generated in the workspace and then techniques of computational geometry are applied to determine the boundary of the workspace. The modified gift wrapper algorithm is used to determine the boundary. It is shown that, for a given mechanism, increasing the ratio of the length of the second link relative to the length of the first link increases the workspace. However, at certain value, gaps start to appear within the workspace which mean discontinuity in the workspace. Increasing the ratio, the workspace becomes separated regions.
KW - Inverse kinematics
KW - Optimization
KW - Parallel manipulators
KW - Workspace
UR - http://www.scopus.com/inward/record.url?scp=77958045962&partnerID=8YFLogxK
U2 - 10.1109/ICMEE.2010.5558455
DO - 10.1109/ICMEE.2010.5558455
M3 - Conference contribution
AN - SCOPUS:77958045962
SN - 9781424474806
T3 - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
SP - V2429-V2433
BT - ICMEE 2010 - 2010 2nd International Conference on Mechanical and Electronics Engineering, Proceedings
T2 - 2010 2nd International Conference on Mechanical and Electronics Engineering, ICMEE 2010
Y2 - 1 August 2010 through 3 August 2010
ER -