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Abstract
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| The synthesis of a mechanism involves two main topics: the structural synthesis and the dimensional synthesis. Dimensional synthesis consists in determining the kinematic parameters that optimize a performance index or satisfy some design requirements. In this paper, we present the dimensional synthesis of a 3PSU-1S Parallel Manipulator (PM). First, the inverse kinematics and instantaneous kinematics of the mechanism are presented. The latter one is found using the screw theory formulation. An algorithm that explores all the different sets of parameters and determines the corresponding value of an objective function is presented. The objective function is proportional to the volume of the workspace and a global kinetostatic performance index. We compare the results obtained when using two different global performance indexes. Simulation results are shown, a prototype with the best set of parameters is presented and its maximum range of workspace is determined. | |
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International
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No |
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Congress
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ROBOT2011, Robótica Experimental |
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960 |
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Place
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Sevilla, España |
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Reviewers
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Si |
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ISBN/ISSN
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0000000000 |
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Start Date
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28/11/2011 |
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End Date
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29/11/2011 |
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From page
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181 |
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To page
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189 |
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ROBOT2011, Robótica Experimental 213 |