DocumentCode
3363826
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
fYear
2009
fDate
9-12 Aug. 2009
Firstpage
3545
Lastpage
3550
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICMA.2009.5246237
Filename
5246237
Link To Document