标题：Optimum design of a 3-RRR planar parallel manipulator with a singularity-free workspace
作者：Gao, Mingwang ;Zhang, Xianmin ;Wu, Zhiwei
作者机构：[Gao, Mingwang ;Zhang, Xianmin ;Wu, Zhiwei ] School of Mechanical Engineering, South China University of Technology, China;[Gao, Mingwang ] School of 更多
会议名称：International Conference on Power Transmission, ICPT 2011
会议日期：October 25, 2011 - October 29, 2011
来源：Applied Mechanics and Materials
摘要：In this paper, a reliable design strategy, capable of optimally picking out the geometrical parameters of the 3-RRR planar parallel manipulators, is presented. The distribution charts for singular loci and usable workspace shape are obtained in the non-dimensional design space. Based on the singularity-free workspace and good force transition capacity, the optimum kinematic parameters are determined by means of the global conditioning index. An example shows that the strategy is useful for realizing the singularity-free workspace optimally. © 2011 Trans Tech Publications.