In this paper the workspace optimization of 3-legged translational UPU and orientational UPS parallel platforms under joint constraints is performed. The workspace of both platforms is parametrized using several design parameters that span a large range of values. In this paper both the unconstrained and the constrained workspaces (i.e., workspace with joint limits) are used. For the workspace of each design configuration three performance indices are calculated using a Monte Carlo method: a) the workspace volume; b) the average of the inverse of the condition number and c) a Global Condition Index which is a combination of the other indices. Plots of each performance index as a function of the design parameters are generated and optimal values for these design parameters are determined. For the optimal design, it is shown that by introducing joint limits, the global isotropy of the parallel platforms is improved at the cost of workspace reduction.
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e-mail: mircea.badescu@jpl.nasa.gov
e-mail: mavro@coe.neu.edu
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March 2004
Technical Papers
Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms With Joint Constraints
Mircea Badescu, Caltech Postdoctoral Scholar, Mem. ASME,
e-mail: mircea.badescu@jpl.nasa.gov
Mircea Badescu, Caltech Postdoctoral Scholar, Mem. ASME
Robotics and Mechatronics Laboratory, Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA 02115
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Constantinos Mavroidis, Associate Professor, Mem. ASME
e-mail: mavro@coe.neu.edu
Constantinos Mavroidis, Associate Professor, Mem. ASME
Robotics and Mechatronics Laboratory, Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA 02115
Search for other works by this author on:
Mircea Badescu, Caltech Postdoctoral Scholar, Mem. ASME
Robotics and Mechatronics Laboratory, Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA 02115
e-mail: mircea.badescu@jpl.nasa.gov
Constantinos Mavroidis, Associate Professor, Mem. ASME
Robotics and Mechatronics Laboratory, Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA 02115
e-mail: mavro@coe.neu.edu
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Sept. 2002; revised July 2003. Associate Editor: M. Raghavan.
J. Mech. Des. Mar 2004, 126(2): 291-300 (10 pages)
Published Online: May 5, 2004
Article history
Received:
September 1, 2002
Revised:
July 1, 2003
Online:
May 5, 2004
Citation
Badescu, M., and Mavroidis, C. (May 5, 2004). "Workspace Optimization of 3-Legged UPU and UPS Parallel Platforms With Joint Constraints ." ASME. J. Mech. Des. March 2004; 126(2): 291–300. https://doi.org/10.1115/1.1667922
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