DocumentCode
2916943
Title
Parametrical optimization of parallel mechanisms while taking into account singularities
Author
Thanh, Nguyen Minh ; Mau, Nguyen Cong ; Glazunov, Victor ; Vinh, Lu Nhat
Author_Institution
Dept. of Ind. Autom., Hochiminh City Univ. of Transp., Ho Chi Minh City
fYear
2008
fDate
17-20 Dec. 2008
Firstpage
1872
Lastpage
1877
Abstract
Modeling of working space and parameters optimization of the parallel mechanisms with the linear actuators located on the base with six kinematic chains are considered. The purpose is to achieve an increase in functionalities of parallel mechanisms in view of their possible singularities, as criterion of optimization the maximum of working volume.
Keywords
actuators; optimisation; robot kinematics; kinematic chain; linear actuator; parallel mechanism; parametrical optimization; robotics; singularity configuration; working space modeling; Cities and towns; Hydraulic actuators; Inverse problems; Joining processes; Leg; Orbital robotics; Parallel robots; Robot kinematics; Robotics and automation; Testing; Parallel mechanisms; parametrical optimization; singularity configurations; working space;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location
Hanoi
Print_ISBN
978-1-4244-2286-9
Electronic_ISBN
978-1-4244-2287-6
Type
conf
DOI
10.1109/ICARCV.2008.4795813
Filename
4795813
Link To Document