Title :
Architectural singularity analysis and design optimization of a parallel mechanism with a suspended platform
Author :
Lim, Hoon ; Yi, Byung-Ju ; Lee, Sang-Heon
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Ansan, South Korea
Abstract :
This paper deals with the kinematics and optimization of a parallel mechanism with a suspended platform. The proposed mechanism has a unique appearance in that the 6 chains originating from a circular ring are connected to both ends of a suspended platform. After introducing the kinematics, the architectural singularity is analyzed and the design is optimized to minimize the architectural singularity maximally. And the motion characteristics are observed by 3D simulation.
Keywords :
design engineering; manipulator kinematics; optimisation; architectural singularity analysis; design optimization; parallel mechanism; platform kinematics; suspended platform; Concurrent computing; Design automation; Design engineering; Design optimization; Fasteners; Joining processes; Kinematics; Manipulators; Mechatronics; Robots; Parallel mechanism; Suspended mechanism;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246237
