Title :
Parametrical optimization of parallel mechanisms while taking into account singularities
Author :
Thanh, Nguyen Minh ; Mau, Nguyen Cong ; Glazunov, Victor ; Vinh, Lu Nhat
Author_Institution :
Dept. of Ind. Autom., Hochiminh City Univ. of Transp., Ho Chi Minh City
Abstract :
Modeling of working space and parameters optimization of the parallel mechanisms with the linear actuators located on the base with six kinematic chains are considered. The purpose is to achieve an increase in functionalities of parallel mechanisms in view of their possible singularities, as criterion of optimization the maximum of working volume.
Keywords :
actuators; optimisation; robot kinematics; kinematic chain; linear actuator; parallel mechanism; parametrical optimization; robotics; singularity configuration; working space modeling; Cities and towns; Hydraulic actuators; Inverse problems; Joining processes; Leg; Orbital robotics; Parallel robots; Robot kinematics; Robotics and automation; Testing; Parallel mechanisms; parametrical optimization; singularity configurations; working space;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795813
