In most existing studies, the solutions of planar parallel manipulators are restricted to a feasible region of solution. This research provides an optimal solution in link dimension of planar parallel manipulators to a defined trajectory and structure of the links, minimizing the mechanical energy of the manipulator.An algorithm will be obtained that allows adequate dimensioning of the manipulator for a specific task, by means of a passive reconfiguration. With this method most of the energy is used by the manipulator to execute a task, not for the manipulator’s movement. The process is illustrated with an example.Organised by: Cranfield UniversityMori Seiki – The Machine Tool Compan
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