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Optimal Design of Planar Paraller Manipulators 3 RRR Through Lower Energy Consumption

By A. A. Rojas-Salgado and Y. A. Ledezma-Rubio


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

Topics: Parallel manipulator, Parallel and serial singularities, Energy, Optimization
Publisher: Cranfield University Press
Year: 2009
OAI identifier:
Provided by: Cranfield CERES

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