Chapter 13

Workspace Synthesis of Spatial Mechanisms

Abstract

A new algorithm is proposed to optimize the design of a spatial parallel manipulator for the purpose of obtaining a desired dexterous workspace rather than the whole reachable workspace. With the analysis of the degree of freedom of a manipulator, we can select the least number of variables to depict the kinematic constraints of each leg of a manipulator. The optimum parameters can be obtained by searching the extreme values of the objective functions with the given adroit workspace. An example is utilized to demonstrate the significant advantages of this method in the dexterous workspace synthesis. In applications, this method can be widely used to synthesize, optimize, and create ...

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