Title :
Constraints analysis, determination twists inside singularity and parametrical optimization of parallel mechanisms by means the theory of screws
Author :
Thanh, Nguyen Minh ; Le Hoai Quoc ; Glazunov, Victor
Author_Institution :
Manuf. Autom. Dept., Hochiminh City Univ. of Transp., Ho-Chi-Minh City, Vietnam
Abstract :
This paper addresses the constraint analysis and determination of the twists inside singularity of parallel mechanisms to rely on the theory of screws. Moreover, modeling of working space and parametrical optimization of parallel mechanism are considered.
Keywords :
kinematics; optimisation; Delta robot kinematic; constraints analysis; parallel mechanisms; parametrical optimization; screw theory; singularity configurations; twists determination; working space modeling; Algorithm design and analysis; Bismuth; Cities and towns; Constraint optimization; Constraint theory; Fasteners; Joining processes; Kinematics; Leg; Manufacturing automation; Parallel mechanisms; constraints; parametrical optimization; singularity configurations; twist;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control,CCE,2009 6th International Conference on
Conference_Location :
Toluca
Print_ISBN :
978-1-4244-4688-9
Electronic_ISBN :
978-1-4244-4689-6
DOI :
10.1109/ICEEE.2009.5393381
