It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting the geometrical parameters of planar parallel mechanisms is presented. Three different architectures are considered and a genetic algorithm is used to perform the optimization. The performance of each mechanism is evaluated according to four different criteria: workspace, singular configurations, dexterity, and stiffness. In order to make the synthesis method as realistic as possible, mechanical constraints affecting the angular rotation of the 2-RR and 3-RR mechanisms’ passive revolute joints are considered. Moreover, since the conventional methods for computing the dexterity and the stiffness index are not valid for the 3-RR and 3-RR mechanisms, an alternative computation method is used.
Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance
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Arsenault, M., and Boudreau, R. (April 12, 2005). "Synthesis of Planar Parallel Mechanisms While Considering Workspace, Dexterity, Stiffness and Singularity Avoidance." ASME. J. Mech. Des. January 2006; 128(1): 69–78. https://doi.org/10.1115/1.2121747
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